Add documentation for perception interface

[alanmengg]

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

As current perception interface is empty, I am going to add doc to it if no one else has written.

Purpose

add perception interface on https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/

Possible approaches

write perception interface doc.

Definition of done

write perception interface doc and merge it .

[stale]

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