feat(rtc_reaplyer): add rtc_replayer

[taikitanaka3]

Description

Currently there is no way to replay rtc commands because CooperateCommands is service, therefore debugging is almost impossible.To solve this this PR makes rtc command replayer from rosbag topic rtc status.

Related links

'FOO COMPANY INTERNAL LINK'

Tests performed

by psim using foa

• preparation
  if you use psim record as below
  ros2 bag record topic /api/external/get/rtc_status
  or if you use loigsim use your rosbag.

• launch Psim or LogsimWithoutPlainning
  launch simulator

• play bag with remapping
  remap /api/external/get/rtc_status to /debug/rtc_status
  ros2 bag play --remap /api/external/get/rtc_status:=/debug/rtc_status

• launch replayer
  ros2 launch rtc_replayer rtc_replayer.launch.xml

experiment-2022-09-30_19.00.34.mp4

Notes for reviewers

thsi package is for developer

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[codecov]

Codecov Report

Base: 10.34% // Head: 10.33% // Decreases project coverage by -0.00% ⚠️

Coverage data is based on head (1c14608) compared to base (6a6532b).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1993      +/-   ##
==========================================
- Coverage   10.34%   10.33%   -0.01%     
==========================================
  Files        1162     1163       +1     
  Lines       82730    82781      +51     
  Branches    19271    19271              
==========================================
  Hits         8555     8555              
- Misses      64915    64966      +51     
  Partials     9260     9260              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.32% <ø> (ø)		Carriedforward from d7399f2

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

Impacted Files	Coverage Δ
planning/rtc_replayer/src/rtc_replayer_node.cpp	0.00% <0.00%> (ø)

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[rej55]

LGTM