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Implement Object Collision Estimator Node

Liyou Zhou requested to merge liyouzhou/AutowareAuto:topics-liyou-object_collision_estimator_node into master

The node implements a ROS2 interface to Object Collision Estimator Library. It has 2 main interfaces:

  1. Subscribe to a topic to obtain obstacle bounding boxes from the perception pipeline.
  2. Present as a service to other nodes. This service takes a trajectory as an input and outputs another trajectory modified to avoid collisions.

Closes #474 (closed)

Edited by Joshua Whitley

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