feat(default_adapi): use polling subscription

[isamu-takagi]

Description

This PR is #7400 without polling subscriber utility, which prevents subscription wrappers from conflicting.
Related

Compared to the original PR, the following does not use polling.

• motion.cpp: Publish function is called by topic callback
• planning.cpp (kinematic_state): All topics must be queued
• routing.cpp: It is referenced by different callbacks

Related links

#7400
#7400 (comment)

Tests performed

Same as #7588

Notes for reviewers

#7588
The motion node has two subscribers, which subscribe to the 'is_pause' and 'is_start' topics.
Is it sufficient to update only the on_timer function？

It needs to call change_state from the callback.

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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[shmpwk]

LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 87.50000% with 5 lines in your changes missing coverage. Please review.

Project coverage is 30.22%. Comparing base (b764c57) to head (768efd3).
Report is 7 commits behind head on main.

Files with missing lines	Patch %	Lines
...nent_interface_utils/rclcpp/topic_subscription.hpp	58.33%	3 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7588      +/-   ##
==========================================
+ Coverage   29.68%   30.22%   +0.53%     
==========================================
  Files        1450     1454       +4     
  Lines      108833   108868      +35     
  Branches    42740    42753      +13     
==========================================
+ Hits        32305    32900     +595     
+ Misses      73357    72751     -606     
- Partials     3171     3217      +46     

Flag	Coverage Δ		*Carryforward flag
differential	31.69% <87.50%> (?)
total	29.76% <ø> (+0.08%)	⬆️	Carriedforward from ab233b8

*This pull request uses carry forward flags. Click here to find out more.

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[stale]

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

[mitsudome-r]

@isamu-takagi Is it possible to rebase to the latest main so that we can merge this?

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