fix(autoware_trajectory): fix linking issue with pybind11, and use non-deprecated tf2 headers

[sloretz]

Description

This PR fixes two issues to get autoware_trajectory building with Rolling

• It fixes a linking issue to pybind11 libraries
• It uses non-deprecated tf2 headers because of -Werror causes the build to fail after Deprecate C Headers ros2/geometry2#720

Related links

Parent Issue:

• Link

How was this PR tested?

Ubuntu Noble ROS Rolling with ament/ament_cmake#571

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 24.69%. Comparing base (4cb18f5) to head (c37097d).
Report is 127 commits behind head on main.

Additional details and impacted files

@@             Coverage Diff             @@
##             main     #316       +/-   ##
===========================================
- Coverage   78.75%   24.69%   -54.06%     
===========================================
  Files          11       95       +84     
  Lines         193     4288     +4095     
  Branches       73     1132     +1059     
===========================================
+ Hits          152     1059      +907     
- Misses         11     3095     +3084     
- Partials       30      134      +104     

Flag	Coverage Δ
differential	24.69% <ø> (?)
total	?

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[youtalk]

LGTM