refactor(localization_util): add covariance_ellipse to localization_util

[SakodaShintaro]

Description

Since several modules, not only ekf, output pose_with_covariance, it would be a good idea to move the error ellipse struct and its visualization code into localization_util to make it common.

Related links

None.

How was this PR tested?

I have confirmed that logging_simulator works well.

To get a larger error ellipse, I ran the experiment with NDT turned off and confirmed that the correct error ellipse was visualized just as before.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov[bot]]

Codecov Report

Attention: Patch coverage is 0% with 39 lines in your changes missing coverage. Please review.

Project coverage is 29.45%. Comparing base (507e3f4) to head (e38558e). Report is 150 commits behind head on main.

Files	Patch %	Lines
...ation/localization_util/src/covariance_ellipse.cpp	0.00%	36 Missing :warning:
...n_error_monitor/src/localization_error_monitor.cpp	0.00%	2 Missing :warning:
...l/include/localization_util/covariance_ellipse.hpp	0.00%	1 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #7706 +/- ## =========================================== + Coverage 14.84% 29.45% +14.61% =========================================== Files 1999 64 -1935 Lines 139163 3537 -135626 Branches 43716 1090 -42626 =========================================== - Hits 20661 1042 -19619 + Misses 95731 2382 -93349 + Partials 22771 113 -22658 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/7706/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | Coverage Δ | | |---|---|---| | [differential](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/7706/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `29.45% <0.00%> (?)` | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/7706/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `?` | |

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