feat(control_command_gate): create package

[isamu-takagi]

Description

Add control command gate package that selects commands. See README for details.

Related links

Parent Issue:

• Refactor vehicle_cmd_gate #9235

How was this PR tested?

• Merge all related PRs

  • feat(tier4_system_msgs): control command gate messages tier4/tier4_autoware_msgs#167
  • feat: update diag settings for control_command_gate autoware_launch#1332
  • https://github.com/isamu-takagi/autoware.universe/tree/feat/control-command-gate-all (merged branch）
    - feat(control_command_gate): create package #10169
    - feat(command_mode_switcher): create package #10170
    - feat(command_mode_decider): create package #10171
    - feat(stop_mode_operator): create package #10172
    - feat(launch): add option for control command gate #10173

• Main operation.

  1. Launch planning simulator with use_control_command_gate:=true option.
  2. Set initial pose and goal.
  3. Change operation mode to autonomous and stop.
  4. Check that the vehicle drives as before.

• Emergency operation.

  1. Launch planning simulator with use_control_command_gate:=true option.
  2. Set initial pose and goal.
  3. Change operation mode to autonomous.
  4. Force the route to be created using the internal interface.

     ros2 service call /planning/mission_planning/route_selector/main/clear_route tier4_planning_msgs/srv/ClearRoute
     

  5. Check the Emergency stop MRM works properly.
     • The vehicle stops.
     • The AD API mrm_state behavior become EMERGENCY_STOP.
     • The AD API mrm_state state become OPERATING then SUCCEEDED.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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