feat(default_adapi): add mrm request api

[isamu-takagi]

Description

This PR depends on autowarefoundation/autoware_adapi_msgs#91
The MRM request API implementation publishes /diagnostics. MRM is triggered by this diagnostics.

Related links

Parent Issue:

• MRM request API
• Remove tier4_ad_api_adaptor autoware#3096

How was this PR tested?

1. Launch planning simulation.
2. Change mode to autonomous.
3. Execute this command and check that the MRM is operating.

   ros2 service call /api/fail_safe/mrm_request/send autoware_adapi_v1_msgs/srv/SendMrmRequest "{request: {strategy: 2}}"
   

4. Execute this command and check that the MRM is canceled.

   ros2 service call /api/fail_safe/mrm_request/send autoware_adapi_v1_msgs/srv/SendMrmRequest "{request: {strategy: 1}}"
   

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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