feat(simple_planning_sim): publish sensing interface imu data

[TakaHoribe]

Description

Add imu publisher in the simple_planning_simulator so that the planning modules using imu info can run.

Related links

Tests performed

Run psim and check if the imu topic is published:

ros2 topic echo /sensing/imu/imu_data

Notes for reviewers

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[purewater0901]

LGTM

[purewater0901]

@TakaHoribe It works well on PSim

[codecov]

Codecov Report

Base: 11.61% // Head: 11.69% // Increases project coverage by +0.07% 🎉

Coverage data is based on head (8bb8b70) compared to base (2a93ee3).
Patch coverage: 61.53% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2843      +/-   ##
==========================================
+ Coverage   11.61%   11.69%   +0.07%     
==========================================
  Files        1319     1319              
  Lines       92107    92234     +127     
  Branches    24424    24511      +87     
==========================================
+ Hits        10701    10786      +85     
- Misses      70233    70252      +19     
- Partials    11173    11196      +23     

Flag	Coverage Δ		*Carryforward flag
differential	57.24% <73.68%> (?)
total	11.61% <31.25%> (-0.01%)	⬇️	Carriedforward from d50ce38

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

Impacted Files	Coverage Δ
.../scene_module/utils/geometric_parallel_parking.cpp	0.00% <0.00%> (ø)
...nning_simulator/simple_planning_simulator_core.hpp	71.42% <ø> (-6.35%)	⬇️
...nning_simulator/simple_planning_simulator_core.cpp	45.17% <76.19%> (+7.75%)	⬆️
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	88.09% <0.00%> (+2.38%)	⬆️

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[tkimura4]

LGTM