feat(tier4_autoware_utils): add InterProcessPollingSubscriber helper factory

[soblin]

Description

enable rclcpp-like usage

  auto sub_autoware_state_ptr =
    tier4_autoware_utils::InterProcessPollingSubscriber<AutowareState>::create_subscription(
      this, "/autoware/state");

Related links

Tests performed

I replaced a subscriber in AEB module

auto sub_autoware_state_ptr =
    tier4_autoware_utils::InterProcessPollingSubscriber<AutowareState>::create_subscription(
      this, "/autoware/state");

and checked it works

Notes for reviewers

Interface changes

none

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

none

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.