feat(traffic_light_arbiter): add signal match validator (#6423)

[TomohitoAndo]

Description

Cherry-pick this PR to enable the feature that validates the result of perception and external (V2I).

• feat(traffic_light_arbiter): add signal match validator autowarefoundation/autoware.universe#6423

PR for launch

• https://github.com/tier4/autoware_launch.x2/pull/579

Related

TIER IV INTERNAL JIRA LINK

Tests performed

See autowarefoundation#6423

Effects on system behavior

If the traffic light recognition result and V2I result are not equivalent, it is published as UNKNOWN and the ego stops.
This feature is enabled by setting enable_signal_matching to true.

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[0x126]

LGTM