Add Feature: Dreamview remote controller for carla

[cfs4819]

Description

Referring to LGSVL's dreamview, built a dreamview for carla_bridge.

Dreamview-remote can help :

• Setting destination by set_destination_tranform()
• Enabling/Disabling modules
• Selecting HDMaps in Dreamview
• Selecting vehicle models in Dreamview
• Getting modules' status
• .etc

For example, we can select a destination by

# set host and port 
host = 'localhost'
port = 2000

# connect
carla_client = carla.Client(host, port)
carla_world = carla_client.get_world()
carla_map = carla_world.get_map()

# find ego_vehicle 
ego_vehicle = None
all_vehicles = self.carla_world.get_actors().filter("*vehicle.*")
for vehicle in all_vehicles:
    if vehicle.attributes["role_name"] == "ego_vehicle":
        ego_vehicle = vehicle
        break

# get a avaliabel destination transform
dest_transform = random.choice(carla_map.get_spawn_points())

# connect dreamview
from carla_bridge.dreamview_carla import dreamview
dv = dreamview.Connection(
                    ego_vehicle,
                    ip=dreamview_ip,
                    port=str(dreamview_port))

# setup modules and pub destination
modules = [
            'Transform',  # ok
            'Routing',
            'Prediction',  # ok
            'Planning',  # ok
            'Control',
            'Storytelling'  # ok
] 
dv.enable_apollo(dest_transform, modules)

Then we can notice vehicle driving.

Issue reference

Please reference the issue this PR will close: #90 #44

Checklist

• Code compiles correctly
• Created/updated tests
• Unit tests passing
• End-to-end tests passing
• Reference document