Add API to update speed limits for lanes and publish LaneStates message

[Yadunund]

Requires: open-rmf/rmf_internal_msgs#43

This PR adds two new public APIs to FleetUpdateHandle

1. void limit_lane_speeds(std::vector<SpeedLimitRequest> requests) : To impose speed limits on lanes where SpeedLimitRequest is a pimpled class. I'm not sure if its better to have this as a class or define it as an unordered_map<std::size_t, double>. Or even just std::vector<rmf_fleet_msgs::msg::SpeedLimitedLane>. Alternatively, would it be better to just accept std::vecotr<rmf_fleet_msgs::msg::SpeedLimitRequest> and have a single API limit and remove lane speeds?

2. void remove_speed_limits(std::vector<std::size_t> requests): To remove any imposed speed limits

Anytime lanes are open/closed or speed limits are changed, a LaneStates msg is published over /lane_states topic.

I've also updated the implementation in the legacy full_control adapter to include a subscription interface for SpeedLimitRequest. It still publishes the /closed_lanes topic which is technically deprecated by the newer /lane_states that includes speed limited lanes.

TODO: Update python bindings once CPP API passes review.

[codecov]

Codecov Report

Merging #217 (c1d27cf) into main (3be4edf) will increase coverage by 0.11%.
The diff coverage is n/a.

❗ Current head c1d27cf differs from pull request most recent head 5d213ac. Consider uploading reports for the commit 5d213ac to get more accurate results

@@            Coverage Diff             @@
##             main     #217      +/-   ##
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+ Coverage   17.61%   17.73%   +0.11%     
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  Files         209      844     +635     
  Lines       19351    78180   +58829     
  Branches     9297    37564   +28267     
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+ Hits         3409    13865   +10456     
- Misses      12274    49387   +37113     
- Partials     3668    14928   +11260     

Flag	Coverage Δ
tests	17.73% <ø> (+0.11%)	⬆️

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Impacted Files	Coverage Δ
...adapter/src/rmf_fleet_adapter/events/GoToPlace.cpp
...ter/src/rmf_fleet_adapter/agv/EasyTrafficLight.cpp
...pp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-coordination.hpp
...eet_adapter/src/rmf_fleet_adapter/agv/Waypoint.cpp
...pter/src/rmf_fleet_adapter/phases/DispenseItem.cpp
.../rmf_fleet_adapter/test/test_read_only_adapter.cpp
..._fleet_adapter/src/rmf_fleet_adapter/Reporting.cpp
...xCpp-4.1.0/Rx/v2/src/rxcpp/subjects/rx-subject.hpp
..._fleet_adapter/src/robot_state_aggregator/main.cpp
...-4.1.0/Rx/v2/src/rxcpp/schedulers/rx-immediate.hpp
... and 1043 more

[Yadunund]

@mxgrey if the changes here are good I can update the python bindings and try to get this merged for the release