RLS — Filter Condition should be reduced and move to annex as informative

There is an activity in ISO TC211 to develop UML diagram of
filter condition encoding. So, we should refer it directly
instead to define our own UML diagram.

• Filter Condition will be useful specification for various
  application of RLS. But it domain is slightly different from
  RLS's main target. In addition, ISO TC211's definition is not
  finalized yet. So, the specification should be included in the
  annex as an informative.

As described in issue 13122, Filter Condition cannot be moved to be an
informative part for now, and thus will remain in its original position as mandatory.
However, as an identical ISO standard which can be used for RoLo service is
under process, descriptions will be modified to use the ongoing ISO draft. Here,
we modify the interface for treating filter conditions in Robotic Localization
Service. In the beta1 specification, section for filter condition (7.5) defined an
additional method for RoLo service class to treat filter condition data. As pointed
out by issue 14001, this is not a good way from the viewpoint of interoperability.
Thus, we define a much simple method that treats filter condition as a parameter
defined in ability description for RoLo streams. This allows users to check
whether filter condition functionality is supported or not and provides an easy
mean to specify conditions.
In addition, as the new filtering functionality based on ISO standard requires XML
notation of RoLo data (also from issue 13186) and naming rules (from issue
14002), we define two informative annexes, XML-PSM and naming rules. With
this addition, some description about what is given as annex is also added in
Section 1 “Scope”.