[TODO]: apply new autoware_tensorrt_common interface

[ktro2828]

What

As of autowarefoundation/autoware.universe#9762, new API, which is responsible for building and optimizing TensorRT engine, has been released in autoware.universe.
In autoware_mtr, an original tensorrt builder, which is called MTRBuilder, has been used so far.
Therefore it's time to replace this class with autoware_tensorrt_common::TrtCommon interface.