docs: add readme for interface packages (autowarefoundation#4235)

add readme for interface packages

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Author: isamu-takagi

common/autoware_ad_api_specs/README.md

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+# autoware_adapi_specs
+
+This package is a specification of Autoware AD API.

common/component_interface_specs/README.md

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+# component_interface_specs
+
+This package is a specification of component interfaces.

common/component_interface_tools/README.md

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+# component_interface_tools
+
+This package provides the following tools for component interface.
+
+## service_log_checker
+
+Monitor the service log of component_interface_utils and display if the response status is an error.

common/tier4_api_utils/README.md

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+# tier4_api_utils
+
+This is an old implementation of a class that logs when calling a service.
+Please use [component_interface_utils](../component_interface_utils/README.md) instead.

system/component_state_monitor/README.md

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+# component_state_monitor
+
+The component state monitor checks the state of each component using topic state monitor.
+This is an implementation for backward compatibility with the AD service state monitor.
+It will be replaced in the future using a diagnostics tree.