feat(tier4_autoware_utils): default QoS setting of polling subscriber

[soblin]

Description

• add the argument for QoS to polling subscriber (default is QoS{1})
• if the user did not specify depth == 1 for their custom QoS, raise exeception
• rename getData() to takeData() that does the take() and getData() in one method
• refactored obstacle_cruise for this change

Related links

Tests performed

works as before

Notes for reviewers

Interface changes

none

ROS Topic Changes

none

ROS Parameter Changes

none

Effects on system behavior

none

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