[Feature] Support full functions of g30esli_interface

[aohsato]

Status

DEVELOPMENT

Description

We upgrade g30esli_interaface for supporting full functions of Yamaha Golfcar ECU.

Related PRs

autowarefoundation/autoware_ai#544

Todos

• Tests
• Documentation

Steps to Test or Reproduce

## connect CAN device as SocketCAN
## up interface
$ rosrun ymc canset up

## not use DS4 joystick
$ roslaunch ymc g30esli_interface.launch
# -> press "s" key to engage

## use DS4 joystick
$ roslaunch ymc g30esli_interface.launch use_ds4:=true
# -> press "option" key to engage
# -> press "ps" key to use `vehicle_cmd`

## down interface
$ rosrun ymc canset down

[aohsato]

@yn-mrse Almost done. Plz review?

[gbiggs]

@aohsato Please update us on the status of this PR. If it won't make it into 1.11, then fork and do the PR from there.

[aohsato]

@gbiggs Not 1.11, so I re-create PR from my repository. Thanks.

[aohsato]

@gbiggs @yn-mrse @wep21 moved to #2139