Change the way to include header (#2795)

`#include <source/util/string_utils.h>` works only when we specify
`include_directories(${CMAKE_CURRENT_SOURCE_DIR}/)` in
cmake. It is hard to set the source directory as a include path
in some build systems e.g., bazel. Using the relative path easily
solves this issue. This commit uses
`#include "source/util/string_utils.h"` instead of
`#include <source/util/string_utils.h>`.