feat(emergency_handler): use operation mode availability for emergency handler

[TetsuKawa]

Description

This pull request replace hazard_status with operation_mode_availability and adds process to request pull over.

Related links

Tests performed

• Tested that the handler requests pull over in case that value of operation_mode_availability -> autonomous is false and the value of operation_mode_availability -> pull_over is true.
• Tested that mrm state transitions as per mrm-state.svg.

How to test

autoware.universe

• merged with this branch
• merged with feat/replace diagnostic_graph_aggregator
• merged with feat/mrm-pull-ove-manager

tier4_autoware_msgs

• merged feat/mrm-pull-over-manager

Notes for reviewers

Is it ok to have a transition that pulls over after emergency_stop or comfortable_stop?

Interface changes

Effects on system behavior

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[TetsuKawa]

Instead of changing emergency_handler, create a new node called mrm_handler and replace it with emergency_handler.