fix(tier4_autoware_utils)!: repalce tier4 original path point with lane id

[taikitanaka3]

Related Issue(required)

#315

Description(required)

since PathPointWithLaneId is still tier4 original tier4_autoware_utils can't include PathPointWithLaneId message

Review Procedure(required)

see build pass and test in Psim

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Read commit-guidelines
• Assign PR to reviewer

If you are adding new package following items are required:

• Documentation with description of the package is available
• A sample launch file and parameter file are available if the package contains executable nodes

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR / build-and-test-pr: Required to pass before the merge.
• Build and test for PR / clang-tidy-pr: NOT required to pass before the merge. It is up to the reviewer(s). Found false positives? See the [guidelines][clang-tidy-guidelines].
• Check spelling: NOT required to pass before the merge. It is up to the reviewer(s). See here if you want to add some words to the spell check dictionary.

[kenji-miyake]

@taikitanaka3 In which commit was this added? I think we need to check the review process.

[taikitanaka3]

@kenji-miyake
It was added in this commit sorry for this.
https://github.com/tier4/autoware.iv/pull/2113

[kenji-miyake]

Okay, thank you!