feat(vehicle cmd gate): add transition filter

[TakaHoribe]

Description

• Add a new filter that works only when the operation_mode==TRANSITION.
• Add a subscriber for the operation_mode
• Add a publisher for the current_operation_mode
• Add a parameter for the transition filter

The TRANSITION mode explains that the vehicle is transiting from Manual driving to Autonomous.
This PR provides a function to satisfy "vehicle motion should be gentle on mode transition" kind of requirements.

Related links

Tests performed

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[codecov]

Codecov Report

Merging #1244 (e1dbf82) into main (cfc8b67) will decrease coverage by 0.00%.
The diff coverage is 40.00%.

@@           Coverage Diff            @@
##            main   #1244      +/-   ##
========================================
- Coverage   9.53%   9.53%   -0.01%     
========================================
  Files       1051    1051              
  Lines      72478   72697     +219     
  Branches   15781   15916     +135     
========================================
+ Hits        6913    6933      +20     
- Misses     59547   59737     +190     
- Partials    6018    6027       +9     

Flag	Coverage Δ		*Carryforward flag
differential	17.61% <33.96%> (?)
total	9.51% <44.18%> (-0.01%)	⬇️	Carriedforward from dd911a3

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

Impacted Files	Coverage Δ
...gate/include/vehicle_cmd_gate/vehicle_cmd_gate.hpp	0.00% <ø> (ø)
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	0.35% <0.00%> (+0.08%)	⬆️
...ontrol/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp	81.69% <65.51%> (-11.00%)	⬇️
...te/include/vehicle_cmd_gate/vehicle_cmd_filter.hpp	86.66% <84.61%> (+0.95%)	⬆️
...ulator/vehicle_model/sim_model_ideal_steer_acc.cpp	91.66% <0.00%> (-4.17%)	⬇️
...ulator/vehicle_model/sim_model_ideal_steer_vel.cpp	92.30% <0.00%> (-3.85%)	⬇️
...ulator/vehicle_model/sim_model_delay_steer_acc.cpp	78.33% <0.00%> (-1.67%)	⬇️
...ulator/vehicle_model/sim_model_delay_steer_vel.cpp	80.95% <0.00%> (-1.59%)	⬇️
...vehicle_model/sim_model_delay_steer_acc_geared.cpp	77.01% <0.00%> (-1.15%)	⬇️
...nning_simulator/simple_planning_simulator_core.cpp	38.26% <0.00%> (-0.94%)	⬇️
... and 8 more

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[yukkysaito]

When is it used this param?

[TakaHoribe]

nominal: used at any time as before except in TRANSITION mode.
on_transition: used only in TRANSITION mode.

[tkimura4]

LGTM