Define interfaces between components

[isamu-takagi]

We need to clarify the interfaces needed to create new components, such as sensor drivers and vehicle interfaces. I started making a list of interfaces for each component in this PR. So I would like to discuss the required interfaces for each component. Thank you for your cooperation.

[yukkysaito]

Thanks. I would like to add the following as a component interface, although I think step-by-step is fine.

• RTC
• Topic Hz Specification

Also, to be able to work with external visualization tools, I want to use the component interface for visualization tools such as RViz(except for debug topics).