Add guides about coordinate system

[cyn-liu]

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

Current coordinate-system.md in directory is empty.
I plan to write a guideline about coordinate system.

Purpose

Write a guideline about coordinate system.

Possible approaches

I plan to write the following:

1. The coordinate system in Autoware(for example map, base_link, sensor coordinate system).
2. An example of how to use TF2 for coordinate transformation in Autoware.

@kenji-miyake Do you have any advice?

Definition of done

TO DO!

[kenji-miyake]

@cyn-liu I think you can refer to these documents.
https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-dimensions/
https://www.ros.org/reps/rep-0105.html

[cyn-liu]

@mitsudome-r Hello:
When I write the tutorial of coordinate system , I encountered some problems:
what is the difference of the camera_link and camera_optical_frame?

[mitsudome-r]

This image shows the difference between the camera link and camera optical.

Check: https://youtu.be/A3nw2M47K50?t=533