feat(tier4_system_msgs): add election status msg

[TetsuKawa]

Related Links

block-diagrams
autoware.universe PR

Description

This PR adds election status msg to tier4_system_msgs directory.
It is published from redundancy_switcher_interface and represents the election state of redundancy_switcher.
The election state includes the currently selected control path (e.g., Main ECU-Main VCU, Sub ECU-Main VCU, etc.) and refers to it in redudancy_relay_manager and j6_can_interface.

Remarks

Node Description

• redundancy_switcher_interface: convert udp packets sent from redundancy switcher to ros2 topic, and ros2 topic to udp pakcets.
• 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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