docs(design/autoware-interfaces): add sensing interface

docs/design/autoware-interfaces/components/sensing.md

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+# Sensing
+
+![Node diagram](images/Sensing-Bus-ODD-Architecture.drawio.svg)
+
+## Inputs
+
+### The sensing module contains the driver for the sensor, so there is no input
+
+## Output
+
+### Camera image
+
+Image data from camera. Used by the Perception.
+
+- [sensor_msgs/Image](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html)
+
+### Lidar original pointcloud
+
+Pointcloud after preprocession. Used by the Perception.
+
+- [sensor_msgs/PointCloud2](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/PointCloud2.html)
+
+### Lidar filtered pointcloud
+
+Pointcloud after preprocession. Used by the Perception.
+
+- [sensor_msgs/PointCloud2](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/PointCloud2.html)
+
+### Radar pointcloud
+
+Pointcloud frome radar. Used by the Perception.
+
+- [sensor_msgs/PointCloud2](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/PointCloud2.html)
+
+### Corrected IMU data
+
+Data corrected for yaw rate offset and standard deviation. Used by the Localization.
+
+- [sensor_msgs/Imu](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Imu.html)
+
+### Vehicle pose
+
+Position of the ego vehicle. Used by the Localization
+
+- [geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)
+- [geometry_msgs/PoseWithCovarianceStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html)