Create api for vehicle information

[isamu-takagi]

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

Now Autoware doesn't have a vehicle information API. This API will be used by the application to get such as door layouts and operating time related to vehicle status.

Purpose

Clarify the interface for vehicle information.

Possible approaches

Define these interfaces.

• door layout
• energy level
• max tire angle
• wheelbase

Door layout

Door status will be provided in vehicle status API. This API provides the following information.

• number of doors
• name of each door
• pose of each door
• size of each door

Energy level

Energy levels will be provided as a percentage in vehicle status API. This API provides the following information, and the application can estimate the remaining operating time with vehicle status.

• energy type (e.g. battery, fuel)
• max value and unit (e.g. 10 [J], 10 [Wh], 10 [L])
• approximate operation time
• approximate driving distance

Definition of done

• Create specification.
• Create default implementation.

[isamu-takagi]

autowarefoundation/autoware-documentation#317