Make component containers able to launch

[mitsudome-r]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Current docker container images for each components released from autoware does not contain launch files to run the packages inside each container. We can add tier4_*_launch packages under autoware.universe to respective images to enable launching by components.

Purpose

Let users enable to run Autoware using component containers.

Possible approaches

Modify the docker file to copy each component launch files into respective docker images.
We could also consider moving the launch packages from the launch folder into respective folder (e.g., moving tier4_control_launch to control folder) as we do the refactoring of the launch system in this discussion so that we have simpler docker file.

Definition of done

• modify the docker file to include launch packages into each containers
  • create a draft PR
  • test if generated containers can be launched standalone
• break up the launch folder to move the launch packages into respective component folder
• revert the changes in the docker file after refactoring

[youtalk]

colcon graph --dot --legend | dot -Tsvg -o graph.svg

with only autoware.universe packages: