feat(trajectory_follower_nodes): add simple trajectory follower

[TakaHoribe]

Description

Add a very simple trajectory tracking controller.
The motivation is NOT for accurate trajectory tracking. It is to have a very simple controller implementation for flexible uses.
I created this controller to achieve simple biased-tracking to test a mode transition from manual to autonomous (how the autoware behaves when the autonomous mode change is requested while traveling away from the target trajectory.).

Related links

Tests performed

You can run the simulation through manual override driving following:

1. run planning_simulator and set initial pose, goal.
2. check the vehicle mode

ros2 topic echo /vehicle/status/control_mode  // 1: Autonomous, 2: Manual

3. set vehicle mode to MANUAL as below

ros2 service call /system/control_mode_request tier4_vehicle_msgs/srv/ControlModeRequest "{mode: {data: 0}}"

4. check the control mode changes to Manual
5. run simple_trajectory_follower

ros2 launch trajectory_follower_nodes simple_trajectory_follower.launch.xml

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[kenji-miyake]

This is also good for an example implementation in autoware.core. 👍

[codecov]

Codecov Report

Merging #1198 (a7dc266) into main (ce6ccec) will increase coverage by 0.18%.
The diff coverage is 0.00%.

❗ Current head a7dc266 differs from pull request most recent head 59eb766. Consider uploading reports for the commit 59eb766 to get more accurate results

@@           Coverage Diff            @@
##            main   #1198      +/-   ##
========================================
+ Coverage   9.59%   9.77%   +0.18%     
========================================
  Files       1045    1049       +4     
  Lines      71821   72471     +650     
  Branches   15590   16032     +442     
========================================
+ Hits        6889    7087     +198     
- Misses     58693   58807     +114     
- Partials    6239    6577     +338     

Flag	Coverage Δ		*Carryforward flag
differential	31.84% <0.00%> (?)
total	9.57% <ø> (+<0.01%)	⬆️	Carriedforward from f173c4b

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...tory_follower_nodes/simple_trajectory_follower.hpp	0.00% <0.00%> (ø)
..._follower_nodes/src/simple_trajectory_follower.cpp	0.00% <0.00%> (ø)
...ory_follower_nodes/src/lateral_controller_node.cpp	28.88% <0.00%> (-0.37%)	⬇️
perception/detection_by_tracker/src/utils.cpp	0.00% <0.00%> (ø)
...erception/multi_object_tracker/src/utils/utils.cpp	0.00% <0.00%> (ø)
...ject_merger/src/object_association_merger/node.cpp	0.00% <0.00%> (ø)
...ollower_nodes/src/longitudinal_controller_node.cpp	38.56% <0.00%> (ø)
...rger/src/object_association_merger/utils/utils.cpp	0.00% <0.00%> (ø)
...ation_merger/data_association/data_association.cpp	0.00% <0.00%> (ø)
...ation_merger/data_association/data_association.hpp
... and 7 more

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[tkimura4]

After fixing the topic name of command, it worked fine

simple_follower.mp4

[tkimura4]

I think it's better to write a brief description in the Readme.

[tkimura4]

LGTM