feat(autoware_internal_msgs): add PublishedTime debug info message

[brkay54]

Description

Part of:

• Make it possible to detect publishing times of the messages in the pipelines autoware.universe#6255

We want to add a new message that will report the header time and published time of a message inside the pipelines.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[brkay54]

@xmfcx, @mitsudome-r -san Could you review also who wants to maintain the package?

[yukkysaito]

I would like to have @yukkysaito @xmfcx @mitsudome-r as the maintainers of message interface.

[xmfcx]

@brkay54 could you also open up a PR to update the autoware/autoware.repos file too? (to include autoware_internal_msgs within autoware/core folder)?

[xmfcx]

And I will add a simple CI for this repo before merging this.

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[xmfcx]

Thanks!