feat(tier4_system_msgs): add change topic relay control service

[TetsuKawa]

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autoware.universe PR

Description

This PR adds change topic relay control service to tier4_system_msgs directory.
It is called from redundancy_relay_manager to topic_relay_controller and represents whether to turn on or off the relaying topic. The topic_relay_controller is implemented with a design that does not rely on redundant configurations.

Remarks

Node Description

• redundancy_relay_manager: placed on the Sub ECU side, it determines whether the Main ECU or the Sub ECU is currently in use, and when the Sub ECU is in use, it makes a service call to the relay_topic_controller and stops relaying the topic bridged from the Main ECU.
• relay_topic_controller: remap the specified topic and republish it.

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[yukkysaito]

LGTM

[mitsudome-r]

LGTM