feat(ekf_localizer): apply agnocast_wrapper::Node to ekf_localizer

[Koichi98]

Description

Apply agnocast_wrapper::Node to autoware_ekf_localizer.
Please read autowarefoundation/autoware#7007 for the context and review guidelines of autoware_agnocast_wrapper adoption.
Also, please refer to https://github.com/autowarefoundation/autoware_core/blob/main/common/autoware_agnocast_wrapper/docs/review_guide.md for the review guide of autoware_agnocast_wrapper application PR. FYI: This node take Method2 of two integrations methods.

Node specific change

• The trigger_node service is registered through the agnocast_wrapper::Node's create_service member function, which takes an rclcpp::QoS and absorbs the Humble-only rmw_qos_profile signature difference inside the wrapper. As a result, no per-distro / per-build (#ifdef) branch is needed at the call site.

Related Links

• Apply autoware::agnocast_wrapper::Node across Autoware autoware#7007
• https://github.com/orgs/autowarefoundation/discussions/6804

Related links

Parent Issue:

• Link

How was this PR tested?

• colcon build succeeds with both ENABLE_AGNOCAST=1 and ENABLE_AGNOCAST=0.
• Ran Autoware based product with this change applied and confirmed it operates without any regression.

Notes for reviewers

Agnocast delivers subscription messages as read-only shared-memory objects, but pose_queue_ / twist_queue_ store mutable std::shared_ptrs that are held beyond the callback (and the twist covariance is edited in place). So each incoming message is copied into a heap-allocated std::shared_ptr before being pushed to the queue.

 auto pose_msg = std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>(*msg);
  pose_queue_.push(pose_msg);

Interface changes

None.

Effects on system behavior

None when ENABLE_AGNOCAST is not set or set to 0 on runtime. When ENABLE_AGNOCAST=1, CPU Time used in this node for message serialization/deserialization will be reduced.

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[Copilot]

Pull request overview

This PR migrates autoware_ekf_localizer to Method 2 of autoware_agnocast_wrapper by switching the node base class to autoware::agnocast_wrapper::Node, enabling Agnocast-backed pub/sub (and related utilities) when built with ENABLE_AGNOCAST=1.

Changes:

• Rebased EKFLocalizer onto autoware::agnocast_wrapper::Node, converting publishers/subscribers/services/timers/tf2 usage to wrapper-compatible types and message allocation macros.
• Updated launch to source Agnocast environment settings (including LD_PRELOAD handling).
• Updated build configuration to depend on autoware_agnocast_wrapper, register the node with an Agnocast-only executor, and adjust test setup for Agnocast-enabled builds.

Reviewed changes

Copilot reviewed 7 out of 7 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
localization/autoware_ekf_localizer/src/include/warning.hpp	Switch Warning to accept agnocast_wrapper::Node* for logging/clock access.
localization/autoware_ekf_localizer/src/include/hyper_parameters.hpp	Switch hyper-parameter loader signature to agnocast_wrapper::Node*.
localization/autoware_ekf_localizer/src/include/ekf_localizer.hpp	Change node base class and migrate ROS entity member types to wrapper macros/types.
localization/autoware_ekf_localizer/src/hyper_parameters.cpp	Update loader implementation to accept agnocast_wrapper::Node*.
localization/autoware_ekf_localizer/src/ekf_localizer.cpp	Use wrapper timer, wrapper tf2, const-shared callback types, copied input messages, and allocated output messages.
localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml	Include Agnocast env launch and pass LD_PRELOAD value into the node process.
localization/autoware_ekf_localizer/CMakeLists.txt	Add wrapper dependency/setup, register node with Agnocast-only executor, and conditionally filter some tests.

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