Fix twist_gate problems when using decision_maker.

Description

I want to fix these problems that occur in the twist_gate node when I use decision_maker.

• The twist_gate node automatically changes its behavior depending on whether there is a decision_maker node and the details of that topic. It changes the values of vehicle_cmd to enable or disable, which may cause unintended dangerous behavior.
• And the node confirms existence of decision_mkaer every loop using rosmasterAPI, but it may takes too long time and bad influence.

Implementation considerations

Add the following changes to the twist_gate node:

• Add a rosparam of whether or not to use decision_maker.
• Confirm the existence of the decision_mkaer node by subscribe to its topic and check the timeout.

Alternatives

If you use decision_maker, launch the decision_maker node before the twist_gate and waypoint_loader are executed, which solves the first problem.