Add new messages to handle 2d ROI tracking information

[YoshiRi]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

2D object tracking is common task and it may consistent in some scene compared to lidar/radar sensing.
I want to add new message like TrackedObjectsWithFeature to handle 2D tracking information.

Purpose

Current autoware can only handle 2D ROI information with DetectedObjectsWithFeature message and it results in the shortage for handling tracking information such as uuid or existence probability. (See bytetrack package for example. )

I think we need some alternative messages to handle 2D tracking message.

Possible approaches

For shortly, I think copying DetectedObjectWithFeature will be easy to implement and handle.

I suggest TrackedObjectWithFeature and TrackedObjectsWithFeature

• TrackedObjectWithFeature

autoware_perception_msgs/TrackedObject object
Feature feature

• TrackedObjectsWithFeature

std_msgs/Header header
TrackedObjectWithFeature[] feature_objects

c.f. TrackedObject includes minimum information like object_id and existence_probability.

unique_identifier_msgs/UUID object_id
float32 existence_probability
ObjectClassification[] classification
TrackedObjectKinematics kinematics
Shape shape

Definition of done

Close when new message definition is available.

[YoshiRi]

cc: @technolojin @yukkysaito

[YoshiRi]

Added PR suggestion in here.

[stale]

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