Move api pkgs

[isamu-takagi]

PR Type

• Improvement

Related Links

autowarefoundation/autoware.universe#187
tier4/tier4_autoware_msgs#15
https://github.com/tier4/autoware.proj/pull/382 (remove api_msgs, add tier4_msgs)

Description

Move version message.
Move internal api packages.

Review Procedure

Check build success.

Remarks

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• Code follows coding guidelines
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• Commits are properly organized and messages are according to the guideline
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• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets
• Write release notes

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[tkimura4]

LGTM