Add predefined station list to Autoware API

[VRichardJP]

For both cargo and bus ODD projects, it is quite common to ask Autoware to only move around a predefined set of goal poses. Since these goal poses are pretty much tied to the vector map and its coordinate system, it does not make much sense to manage these goals outside autoware. Thus, I think it would be nice to add a way to configure these "stations".

For example, inside the ${map_path} directory, we could have a new stations.yaml, containing a list of stations and misc data like so:

stations:
  - name: "North Entrance"
    # a unique ID, for FMS to set goal by ID instead of goal coordinates ('name' field could also do)
    id: "0828e2d3-82d0-40f9-8612-944473dd2f73"
    # geo coordinates as geographic_msgs/GeoPoint.msg, so that third-party tools can display station on a map
    geo_pose:
      latitude: 35.6188805
      longitude: 139.7595883
      altitude: 5.57
    # local coordinate as geometry_msgs/Pose.msg, required to set the goal
    # more info may be necessary if vector map is divided into chunks
    pose:
      position:
        x: 10000.0
        y: -5000.0
        z: 2.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
  - name: "South Exit"
    # ...    

A new API topic (for example /api/map/stations) would expose the list of stations for third-party tools.

For example, a new Rviz plugin could allow the user to set the goal from the list of available stations.