Integration of Autoware Universe with Scenario Simulator

[mitsudome-r]

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

This tickets tracks the tasks required for the integration of TEIR IV's scenario simulator with Autoware Universe.

Purpose

In Autoware.Auto we integrated TIER IV's scenario simulator to do scenario based testing. The feature is needed for Autoware Universe as well in order to do regression testing in the CI.

Possible approaches

In order to make the scenario simulator communicate with Autoware, we need to add adapter nodes which abstracts Autoware internal interface (topics) into topics used by the simulator and vice versa.

NOTE: We are also trying to refactor these nodes after reviewing the Interface designs in the future, but we would like to have something working to be merged first in order to remove the blocker for planning module evaluation.

Definition of done

• add TIER IV's ad_api_adapter repository as a dependency of universe Runtime Manager Setup tab, fix about Vehicle Model path autoware#156
• add tier4_api_adapter launch files to universe feat(tier4_autoware_api_launch): add tier4_autoware_api_launch package #658
• add launch tier4_api_adapter to high level launch files (like planning_simulator) feat: add autoware_api.launch.xml to launch files in autoware_launch package autoware_launch#26