feat(tier4_perception_msgs): add traffic_light_type to msg

[tzhong518]

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Description

This pull request add traffic_light_type attribute to the TrafficLightRoi.msg and TrafficSignal.msg, in order to distinguish traffic lights that are for pedestrians from that are for cars.
These messages are mainly used for traffic light recognition.

Related PR

autowarefoundation/autoware.universe#5871

Remarks

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[miursh]

LGTM