feat: add autoware_core_component_interface_specs package

[mitsudome-r]

Description

This creates a new autoware_core_component_interface_specs package in to Autoware Core.
This package is based on autoware_component_interface_specs. The main differences are the followings:

• remove any interfaces from autoware_tier4_msgs since these are not official interface defined by AWF
• remove ADAPI interfaces. Phase 1 of Autoware Core would be simple so I removed them for simplicity.
• Add base class for interface definition with get_qos() function. Autoware Universe has autoware_interface_utils to provide similar utility function, but I thought that was too overwhelming for Autoware Core so I just provided the simple interface to help users declare publishers and subscribers.

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 41.93548% with 36 lines in your changes missing coverage. Please review.

Project coverage is 64.95%. Comparing base (09d77e4) to head (6f5a07c).

Files with missing lines	Patch %	Lines
...re_component_interface_specs/test/test_vehicle.cpp	33.33%	0 Missing and 12 partials ⚠️
...e_core_component_interface_specs/test/test_map.cpp	35.71%	0 Missing and 9 partials ⚠️
...mponent_interface_specs/test/test_localization.cpp	40.00%	0 Missing and 6 partials ⚠️
...e_component_interface_specs/test/test_planning.cpp	40.00%	0 Missing and 6 partials ⚠️
...component_interface_specs/test/test_perception.cpp	50.00%	0 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #124      +/-   ##
==========================================
- Coverage   73.25%   64.95%   -8.30%     
==========================================
  Files          10       17       +7     
  Lines         172      234      +62     
  Branches       68      104      +36     
==========================================
+ Hits          126      152      +26     
  Misses         19       19              
- Partials       27       63      +36     

Flag	Coverage Δ		*Carryforward flag
differential	41.93% <41.93%> (?)
total	73.25% <ø> (ø)		Carriedforward from 051d227

*This pull request uses carry forward flags. Click here to find out more.

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[isamu-takagi]

These don't seem necessary. If your goal is to share get_qos function, how about making it a free function or using the CRTP?