feat: add support for area for route planning

[emmeyteja]

Description

Enable global routing through Lanelet2 Areas by registering AutowareVehicle traffic rules (Areas passable per GenericTrafficRules / participant tags) and extending RouteHandler to plan with shortestPathIncludingAreas, build LaneletSegments with primitive_type == "area", and support drivable-lane fallbacks where needed. Areas are connectors in the routing graph only—no centerline or path inside the Area; lane legs stay lanelet-based.

Related Links

Related PRs

• autoware_core PR
• autoware_universe PR

Issues
TierIV Internal Issue Link

Design Documents
Tier IV Internal Design Document: Area Visualization
Tier IV Internal Design Document: Route Serach through Areas

How was this PR tested?

• Colcon build of touched packages (autoware_lanelet2_extension, autoware_route_handler, and dependents as needed).
• Route handler / mission tests or a minimal L–A–L map in sim, if available in-tree.

Notes for reviewers

None.

Interface changes

No new ROS topics or parameters in core. C++ RouteHandler (and related headers) gain overloads and helpers for area-inclusive paths and segment construction. Downstream LaneletRoute.segments may include primitive_type == "area" once the mission planner uses this pipeline (that wiring may be a separate PR).

Effects on system behavior

Routes can traverse Areas as graph links, so some maps become plannable that were not before.
Lane-only routes and maps without area-inclusive paths should match prior behavior.

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[emmeyteja]

@mitsudome-r @soblin Could you please review this PR?

[mitsudome-r]

There are multiple changes included in this PR.
Could you split the PRs into the following?

• adding visualization support of Area
• adding support of area for route_manager
• adding support for area for route_handler

It helps us to make the review easier and also easier to revert only the necessary parts when there is an issue.

[emmeyteja]

There are multiple changes included in this PR. Could you split the PRs into the following?

@mitsudome-r as we spoke in slack, I am going to split this PR into two PRs. One for routing search through Area primitive and publish in the route, second PR for visualizations of Area primitives. Please review.