ci(clang-tidy): use minimum clang-tidy configuration for CI

[veqcc]

Description

This PR changes .clang-tidy-ci file to a really minimum one like the following.
Our first goal is that all the Autoware packages pass this minimum clang-tidy check and enable it as a required CI.

Checks: "
  -*,
  bugprone-dangling-handle"

WarningsAsErrors: "*"

ExtraArgs:
  - -std=c++17
  - -Wno-c11-extensions

Since clang-tidy needs at least one enabled check, I chose bugprone-dangling-handle as a first check, which is also enabled in the current Autoware.

-std=c++17 and -Wno-c11-extensions are specified so that clang-tidy can recognize C++17 new features and C++ extensions.

Related links

Autoware Discussion: https://github.com/orgs/autowarefoundation/discussions/4876#discussioncomment-11287411

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[veqcc]

I will wait @xmfcx 's approval 👍

[xmfcx]

We have to start somewhere, thanks @veqcc

[veqcc]

@xmfcx @mitsudome-r
Could someone merge it instead of me? I have no right to it