refactor(mpc): remove old library dependency

[TakaHoribe]

Description

remove old autoware_auto dependency

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Patch coverage: 33.33% and project coverage change: -0.01 ⚠️

Comparison is base (319577a) 12.31% compared to head (d81bf4e) 12.31%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3165      +/-   ##
==========================================
- Coverage   12.31%   12.31%   -0.01%     
==========================================
  Files        1340     1340              
  Lines       93513    93512       -1     
  Branches    26777    26776       -1     
==========================================
- Hits        11519    11518       -1     
- Misses      69832    69835       +3     
+ Partials    12162    12159       -3     

Flag	Coverage Δ		*Carryforward flag
differential	46.49% <33.33%> (?)
total	12.31% <ø> (-0.01%)	⬇️	Carriedforward from 319577a

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
..._controller/include/mpc_lateral_controller/mpc.hpp	46.66% <ø> (ø)
control/mpc_lateral_controller/src/mpc.cpp	48.44% <ø> (ø)
control/mpc_lateral_controller/src/mpc_utils.cpp	56.80% <33.33%> (-0.21%)	⬇️

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.