libbpf: Clean up legacy bpf maps declaration in bpf_helpers

Legacy BPF map declarations are no longer supported in libbpf v1.0 [0].
Only BTF-defined maps are supported starting from v1.0, so it is time to
remove the definition of bpf_map_def in bpf_helpers.h.

  [0] https://github.com/libbpf/libbpf/wiki/Libbpf:-the-road-to-v1.0



Signed-off-by: Xin Liu <liuxin350@huawei.com>
Signed-off-by: Daniel Borkmann <daniel@iogearbox.net>
Acked-by: Song Liu <song@kernel.org>
Link: https://lore.kernel.org/bpf/20220913073643.19960-1-liuxin350@huawei.com