feat(rtc_auto_mode_manager): eliminate rtc auto mode manager

[kyoichi-sugahara]

Description

This PR should be merged first.

TODO

• confirm rtc_replayer works

Related links

#5182

Tests performed

confirmed with planning simulator

• control initial state auto_mode or manual_mode from parameter

enable_RTC: false for start_planner and approve is unnecessary

enable_RTC: true for start_planner and approve is necessary

• switch auto_mode or manual_mode from api
  switch between auto_mode and manual_mode
  Screencast from 2023年10月06日 13時05分51秒.webm

• PASS TIERIV INTERNAL SCENARIOS

Notes for reviewers

Interface changes

Effects on system behavior

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[codecov]

Codecov Report

All modified lines are covered by tests ✅

Comparison is base (950805f) 14.78% compared to head (69df2e3) 14.78%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5235   +/-   ##
=======================================
  Coverage   14.78%   14.78%           
=======================================
  Files        1648     1648           
  Lines      113977   113977           
  Branches    35122    35122           
=======================================
+ Hits        16850    16852    +2     
+ Misses      78184    78183    -1     
+ Partials    18943    18942    -1     

Flag	Coverage Δ		*Carryforward flag
differential	11.47% <ø> (?)
total	14.78% <ø> (ø)		Carriedforward from 950805f

*This pull request uses carry forward flags. Click here to find out more.

see 1 file with indirect coverage changes

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