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 35.53719% with 78 lines in your changes missing coverage. Please review.

Project coverage is 35.53%. Comparing base (4cb18f5) to head (4e8661d).
Report is 33 commits behind head on main.

Files with missing lines	Patch %	Lines
...re_component_interface_specs/test/test_vehicle.cpp	29.41%	0 Missing and 24 partials ⚠️
...toware_component_interface_specs/test/test_map.cpp	30.76%	0 Missing and 18 partials ⚠️
...mponent_interface_specs/test/test_localization.cpp	33.33%	0 Missing and 12 partials ⚠️
...e_component_interface_specs/test/test_planning.cpp	33.33%	0 Missing and 12 partials ⚠️
...re_component_interface_specs/test/test_control.cpp	40.00%	0 Missing and 6 partials ⚠️
...component_interface_specs/test/test_perception.cpp	40.00%	0 Missing and 6 partials ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main     #124       +/-   ##
===========================================
- Coverage   78.75%   35.53%   -43.22%     
===========================================
  Files          11        8        -3     
  Lines         193      121       -72     
  Branches       73       78        +5     
===========================================
- Hits          152       43      -109     
+ Misses         11        0       -11     
- Partials       30       78       +48     

Flag	Coverage Δ
differential	35.53% <35.53%> (?)
total	?

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[xmfcx]

@isamu-takagi -san, could you review this again? @mitsudome-r -san has made the changes you've requested.

[isamu-takagi]

LGTM