Eliminate RTC Auto Mode Manager and control auto/manual mode from config file in the module package

[kyoichi-sugahara]

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.

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About RTC

Whether the planning module operates entirely automatically depends on whether it is in auto mode or manual mode. The explanation of RTC can be found here.
For instance, if you operate the intersection module in manual mode, it will not enter the intersection until approved by the RTC side even if the module judge it safe. However, in auto mode, it will proceed without approval as long as the module side determines it to be safe.

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Background

Currently, the control of auto mode and manual mode at the time of module startup is realized through the service by the RTC Auto Mode Manager. We think that this method has the following two problems:

• The RTC Auto Mode Manager must be aware of the module names.
• After the RTC Auto Mode Manager starts up, it changes each module to auto mode one by one through the service.

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Purpose

Eliminate the RTC Auto Mode Manager and enable switching between auto mode and manual mode through the config file on the module side.

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Definition of done

• Enable switching between auto mode and manual mode from the module side.
  feat(behavior_velocity_planner): enable auto mode without rtc_auto_mode_manager  #4054
  feat(behavior_velocity_planner): add flag to enable auto mode without rtc_auto_mode_manager autoware_launch#435
  feat(behavior_path_planner): enable auto mode without rtc_auto_mode_manager #3894
  feat(behavior_path_planner): add flag to enable auto mode without rtc_auto_mode_manager autoware_launch#387
• Eliminate the RTC Auto Mode Manager.
  feat(rtc_auto_mode_manager): eliminate rtc auto mode manager #5235
  feat(rtc_auto_mode_manager): eliminate rtc auto mode manager autoware_launch#625

[kyoichi-sugahara]

Eliminated RTC Auto Mode Manager with
#5235
autowarefoundation/autoware_launch#625