Consolidate MRM related nodes into a single node

[veqcc]

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

Currently, Minimum Risk Maneuver (MRM) is implemented across multiple nodes like the following:
(Pullover is a new feature still in Pull Request: #5634)

You can refer to #1856 to see when these MRM functions are introduced in autoware.universe.

From a point of safety and performance, I suggest consolidating these five nodes into a single node.

Purpose

By consolidating these nodes, we aim to achive:

• improving reliability: a low probability of MRM failures since redundant ROS 2 node/topic/service will be removed.
• improving latency: a high performance of MRM behaviors on some emergency since:
  • we do not have to wait the MRM operation response from each node, or wait a timeout of some behaviors
  • we do not have to wait the topic/service to be scheduled by the ROS 2 executor

Possible approaches

Implement each operators (including pull_over_manager) as a class in MRM Handler nodes:

If you want to add a new operator to MRM, just implementing a new class in MRM Handler is fine.

Definition of done

• consolidate these nodes into a single node

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[meliketanrikulu]

Hello @veqcc . Thanks for your effort. Is there any update related this issue.

[veqcc]

Hi, @meliketanrikulu, thank you for your reminder.

Actualy, there will be a interface change in vehicle_cmd_gate from @isamu-takagi in the near future.
I will make some actions after that

[veqcc]

I will close it.