feat(ekf_localizer)!: subdivide ekf_localizer diagnostics

[Motsu-san]

Description

When the ekf_localizer diagnostics status is ERROR or WARN, it is not clear why or where it happens at a grance. We can get only that "localization: ekf_localizer" has "ERROR" in the header of diagnostic message.
Therefore, I've made this pull-request subdivides the diagnostics.

Related links

The following pull requests must be merged at once and in sequence.

• docs(ekf_localizer): improve ekf_localization readme readability #664
• feat(diagnostics): replace monitoring localization diagnostic items autoware_launch#1665
• feat(diagnostics): modification derived from new diag messages of ekf localizer autoware_tools#309

Parent Issue:
https://github.com/orgs/autowarefoundation/discussions/6510

Private Links:

• TIER IV internal link 1
• TIER IV internal link 2
• TIER IV internal link 3

How was this PR tested?

1. Build Autoware with this changes(Before run build, replacing file or editing repos).
2. ros2 bag play the autoware sample data with autoware sample map.
3. Check the diagnostics with rqt_rintime_monitor.

Notes for reviewers

None.

Interface changes

The ekf_localizer diagnostics content "localization: ekf_localizer" is replaced to the combined message with the following items.

    "localization: ekf_localizer: is_activated"
    "localization: ekf_localizer: is_set_initialpose"
    "localization: ekf_localizer: pose_no_update_count"
    "localization: ekf_localizer: pose_queue_size"
    "localization: ekf_localizer: pose_delay_time"
    "localization: ekf_localizer: pose_mahalanobis_distance"
    "localization: ekf_localizer: twist_no_update_count"
    "localization: ekf_localizer: twist_queue_size"
    "localization: ekf_localizer: twist_delay_time"
    "localization: ekf_localizer: twist_mahalanobis_distance"
    "localization: ekf_localizer: cov_ellipse_long_axis_size"
    "localization: ekf_localizer: cov_ellipse_lateral_direction_size"

Before

After

Effects on system behavior

None.

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 50.43%. Comparing base (d4cb9e0) to head (234ca8d).
⚠️ Report is 94 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #668      +/-   ##
==========================================
+ Coverage   50.26%   50.43%   +0.16%     
==========================================
  Files         348      348              
  Lines       22034    22049      +15     
  Branches     9802     9831      +29     
==========================================
+ Hits        11076    11120      +44     
+ Misses       9885     9854      -31     
- Partials     1073     1075       +2     

Flag	Coverage Δ		*Carryforward flag
daily-humble	50.08% <ø> (+<0.01%)	⬆️	Carriedforward from f61eb89
daily-jazzy	49.50% <ø> (+0.02%)	⬆️	Carriedforward from f61eb89
differential-humble	57.11% <100.00%> (?)
total	50.26% <ø> (-0.07%)	⬇️	Carriedforward from f61eb89
total-humble	50.08% <ø> (+<0.01%)	⬆️	Carriedforward from f61eb89
total-jazzy	49.48% <ø> (+<0.01%)	⬆️	Carriedforward from f61eb89

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[mitsudome-r]

Just out of curiosity, Is this header file meant to be exported?(i.e., is it expected to be included by some other packages?)
If not, we might want to move it under src/ folder so that we don't have to worry about making changes to function signature in the future.

[Motsu-san]

I'm sorry for late replay. Thank you for your comment. I agree with you. Though it may be needed before, any source except for ekf localizer doesn't seem to refer it. I think it is better to locate in src folder.

[Motsu-san]

I made the pull-request for it. I'm currently verifying whether header files can be moved.

[stale]

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