feat: apply adapi routing

[isamu-takagi]

PR Type

• Improvement

Related Links

autowarefoundation/autoware.universe#2136
tier4/autoware_launch#526

Description

Apply AD API (routing).

Review Procedure

Check if the following APIs work.

• /api/external/set/route
• /api/external/get/route

Remarks

Sample command.

ros2 service call /api/external/set/route tier4_external_api_msgs/srv/SetRoute "
route:
  goal_pose:
    header:
      stamp:
        sec: 1666590752
        nanosec: 356599301
      frame_id: map
    pose:
      position:
        x: 3797.385498046875
        y: 73762.9921875
        z: 19.400703706523093
      orientation:
        x: 0.0
        y: 0.0
        z: 0.232341862771554
        w: 0.9726341855003063
  route_sections:
  - {preferred_lane_id: 9540, lane_ids: [9540]}
  - {preferred_lane_id: 9546, lane_ids: [9546]}
  - {preferred_lane_id: 9178, lane_ids: [9178]}
  - {preferred_lane_id: 52,   lane_ids: [52]}
  - {preferred_lane_id: 124,  lane_ids: [124]}"

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[tkhmy]

The set/goal is been removed, need to replace the service to /api/routing/set_route_points
Will review this PR after I make the implementation on the application

[tkhmy]

LGTM
tested in application