feat(tier4_control_msgs): add pause source field for pause interface improvement

[brkay54]

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To can be made vehicle paused from other nodes, I improved pause_interface. This message and service files also should be changed.

autowarefoundation/autoware.universe#2528 (comment)

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[brkay54]

I can not assign reviewer @kenji-miyake , could you assign someone? 🙏🏼

[kenji-miyake]

@yukkysaito @TakaHoribe cc @mitsudome-r I think you guys are the appropriate reviewers. Could you please review this?

[yukkysaito]

@mitsudome-r Can you explain this PR at the meeting?

[mitsudome-r]

@brkay54
We had some improvements in emergency handler to achieve moderate braking for predicted path.
Maybe we can have another discussion in the next WG call with @TakaHoribe and @yukkysaito if we can use that system instead of adding new interface.

[brkay54]

Hi, @mitsudome-r -san, Are we gonna talk about it today's Software WG?

[mitsudome-r]

@brkay54 Let's talk in the Planning/Control meeting this week.
Just as a heads up, I have talked with @isamu-takagi, @yukkysaito, and @TakaHoribe, but we might have to change the approach.

Takagi-san said that he doesn't want to have pause interface used to "decelerate" the vehicle. It is more for make the vehicle stay at stop state. (e.g., like side brake or park gear)
Instead we would like to add another filter in vehicle command gate for moderate stop next to emergency stop as the following:

• Modify vehicle_cmd_gate
  • add ~/moderate_stop service
  • add parameter moderate_stop_deceleration
  • This is similar to emergency stop, but stop with lower deceleration
  • When ever vehicle_cmd_gate receives stop request from moderate_stop topic, then it will overwrite control message using given parameter:
    • velocity = 0
    • acceleration = $moderate_stop_deceleration
• moderate_stop service type:
  • Time stamp
  • bool stop
  • string request_source