Function-similar or duplicated packages in "Common"

[JianKangEgon]

Hi everyone, it's found that there are some packages that have realized similar functions, as the following table shows:

Function	Packages	Description	Proposed solution
tf2::doTransform	1. autoware_auto_tf2 2. tier4_autoware_utils	Both packages have overwritten the function "tf2::doTransform", package no. 1 is for Quaternion, BoundingBox, BoundingBoxArray while no. 2 is for Point, Pose. Besides, transformation for point and pose is now already built-in in ROS2	Since package no. 1 has no other functions, I've merged the first one into the second. PR: autowarefoundation/autoware.universe#5442 (review)
qp solver	1. osqp_interface 2. qp_interface	Both packages provide an interface to construct a QP solver, package no. 1 was proposed by AWF in 2021 while no.2 is from Tier4 in 2023. Both packages keep updated this year	Currently, no package uses package no. 2, maybe this shall be removed
log when calling a service	1. tier4_api_utils 2. component_interface_utils	Package 1 is the old implementation, and package 2 is its new extension. It is officially recommended that package 1 is no longer used.	Merge the first one into second, but it's a huge work as far as I'm concerned

It's appreciated to get your ideas

[liuXinGangChina]

@TakaHoribe please help us with the second “qp_solver”

[TakaHoribe]

@liuXinGangChina Sorry for my late. The qp_solver package is the new one and it provides several qp solvers including the osqp. So the osqp_solver will be removed in the future. It remains since almost all modules are still using the osqp_interface.