Update auditParse to not prepend "b/" to bug IDs

Instead, the bug_map entries will now include the b/ prefix. This will
allow arbitrary URLs to be added as well to SELinux denial messages

Bug: 141014771
Test: Generated a denial, verified that the bug id in the dmesg logs
remains unchanged.

Change-Id: I4679117abdc2e13af81336b0b7fd8d69def80147