feat(mrm_handler): add mrm_handler

[TetsuKawa]

Description

This PR adds mrm_handler node that is going to be replaced with emergency_handler node.
The difference from emergency_handler is that mrm_handler node uses operation_mode_availability while emergency_handler uses hazard_status.

Related links

Tests performed

Confirmed that mrm_handler has the same functionality as emergency_handler.
Confirmed that pull_over functionality can be executed.
Confirmed that behavior transitions from pull_over to comfortable_stop and emergency_stop.

Notes for reviewers

To transition from emergency_handler to mrm_handler,

• Replace the aggregator+system_error_monitor nodes with diagnostic_graph_aggregator node.
• Create a graph configuration file for diagnostic_graph_aggregator.
• Launch new hazard_status_converter node.

Interface changes

Effects on system behavior

This change not only allows for the execution of various MRM behaviors that could not be expressed in hazard_status, but also allows for extensibility of MRM behaviors.

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The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
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After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 269 lines in your changes are missing coverage. Please review.

Project coverage is 14.69%. Comparing base (4b784b4) to head (30b2db8).
Report is 3 commits behind head on main.

Files	Patch %	Lines
...m/mrm_handler/src/mrm_handler/mrm_handler_core.cpp	0.00%	260 Missing ⚠️
...m/mrm_handler/src/mrm_handler/mrm_handler_node.cpp	0.00%	8 Missing ⚠️
...m_handler/include/mrm_handler/mrm_handler_core.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6400      +/-   ##
==========================================
- Coverage   14.72%   14.69%   -0.04%     
==========================================
  Files        1900     1903       +3     
  Lines      130361   130630     +269     
  Branches    38381    38381              
==========================================
  Hits        19198    19198              
- Misses      89647    89916     +269     
  Partials    21516    21516              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.72% <ø> (ø)		Carriedforward from 4b784b4

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[mkuri]

LGTM