Add TranspileErrors to routing passes for coupling_map=None

[mcbennet]

Summary

This pull request closes issue #7127 .

Details and comments

This PR adds TranspileErrors when routing passes attempt to run with coupling_map=None.

Example of such an error can be produced with the following snippet:

from qiskit.circuit.random import random_circuit
from qiskit.transpiler.passes import SabreSwap

sab = SabreSwap(coupling_map=None)
qc = random_circuit(4, 4)
sab(qc)

Catches added for StochasticSwap, SabreSwap, LookaheadSwap, and BasicSwap .

[ecpeterson]

Hello! This PR looks reasonable enough. Would you add a changelog item using reno?

[mcbennet]

Thanks @ecpeterson , changelog added.

[coveralls]

Pull Request Test Coverage Report for Build 4224614097

• 4 of 8 (50.0%) changed or added relevant lines in 4 files are covered.
• No unchanged relevant lines lost coverage.
• Overall coverage decreased (-0.03%) to 85.251%

---

Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
qiskit/transpiler/passes/routing/basic_swap.py	1	2	50.0%
qiskit/transpiler/passes/routing/lookahead_swap.py	1	2	50.0%
qiskit/transpiler/passes/routing/sabre_swap.py	1	2	50.0%
qiskit/transpiler/passes/routing/stochastic_swap.py	1	2	50.0%

Totals
Change from base Build 4206554412:	-0.03%
Covered Lines:	67109
Relevant Lines:	78719

---

💛 - Coveralls

[mtreinish]

This LGTM, it seems straightforward enough. Thanks for doing this and sorry that it fell through he cracks and took so long to review.