feat(ad-api): add request to intervene (RTI)

[isamu-takagi]

Description

Add API for RTI. See autowarefoundation/autoware#3487 for details.
Request to intervene (RTI) is also called take over request (TOR).

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware-documentation/pr-444/
Modified URLs:

• https://autowarefoundation.github.io/autoware-documentation/pr-444/design/autoware-interfaces/ad-api/features/fail-safe/
• https://autowarefoundation.github.io/autoware-documentation/pr-444/design/autoware-interfaces/ad-api/list/api/fail_safe/rti_state/
• https://autowarefoundation.github.io/autoware-documentation/pr-444/design/autoware-interfaces/ad-api/list/
• https://autowarefoundation.github.io/autoware-documentation/pr-444/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RtiState/
• https://autowarefoundation.github.io/autoware-documentation/pr-444/design/autoware-interfaces/ad-api/types/

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[yabuta]

LGTM

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[xmfcx]

@isamu-takagi -san, could you rebase this PR?

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