feat: port autoware_route_handler from Autoware Universe

planning/autoware_route_handler/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_route_handler)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/route_handler.cpp
+)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_autoware_route_handler
+    test/test_route_handler.cpp)
+
+  target_link_libraries(test_autoware_route_handler
+    ${PROJECT_NAME}
+  )
+
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  test_route
+)

planning/autoware_route_handler/README.md

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+# route handler
+
+`route_handler` is a library for calculating driving route on the lanelet map.
+
+## Unit Testing
+
+The unit testing depends on `autoware_test_utils` package.
+`autoware_test_utils` is a library that provides several common functions to simplify unit test creating.
+
+![route_handler_test](./images/route_handler_test.svg)
+
+By default, route file is necessary to create tests. The following illustrates the route that are used in the unit test
+
+### Lane change test route
+
+![lane_change_test_route](./images/lane_change_test_route.svg)
+
+- The route is based on map that can be obtained from `autoware_test_utils\test_map`

planning/autoware_route_handler/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_route_handler</name>
+  <version>0.0.0</version>
+  <description>The route_handling package</description>
+  <maintainer email="[email protected]">Fumiya Watanabe</maintainer>
+  <maintainer email="[email protected]">Zulfaqar Azmi</maintainer>
+  <maintainer email="[email protected]">Kosuke Takeuchi</maintainer>
+  <maintainer email="[email protected]">Takayuki Murooka</maintainer>
+  <maintainer email="[email protected]">Mamoru Sobue</maintainer>
+  <maintainer email="[email protected]">Go Sakayori</maintainer>
+  <maintainer email="[email protected]">Alqudah Mohammad</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <author email="[email protected]">Fumiya Watanabe</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+  <test_depend>autoware_test_utils</test_depend>
+
+  <depend>autoware_lanelet2_extension</depend>
+  <depend>autoware_map_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_utils</depend>
+  <depend>geometry_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>tf2_ros</depend>
+  <depend>yaml-cpp</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>