localization/map component is dependent on the packages outside of localization/map component

[youtalk]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

autowarefoundation/autoware#5586 found that the planning/control component is dependent on the following packages outside of the planning/control component.

• sensing/autoware_pcl_extensions
• sensing/autoware_pointcloud_preprocessor
• system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer

Since the dependencies will no longer follow a parent-child relationship, the components become tightly coupled.

Purpose

Ensure that there are no dependency packages spanning across components. Connections between components should depend only on the core packages or the autoware.universe/common packages.

Ref. #8805

Possible approaches

Ensure that there are no dependency packages spanning across components. Connections between components should depend only on the core packages or the autoware.universe/common packages.

Definition of done

The localization/map packages will no longer directly depend on the following packages.

• sensing/autoware_pcl_extensions
• sensing/autoware_pointcloud_preprocessor
• system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer