Porting autoware_qp_interface from autoware.universe to autoware.core

[NorahXiong]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

As part of Autoware Core implementation activity discussed in this thread, I will be porting autoware_qp_interface from Autoware Universe to Autoware Core.

Purpose

Port autoware_qp_interface from Autoware Universe to Autoware Core.

Possible approaches

Fix bugs if detected.

Definition of done

• port autoware_qp_interface
  • feat(autoware_qp_interface): porting autoware_qp_interface package from autoware.universe #146
  • feat(autoware_qp_interface): porting autoware_qp_interface package to autoware.core autoware.universe#9824
• add unit tests
• fix bugs if needed