feat(ekf_localizer): adjustable publishing of diagnostics

[Motsu-san]

Description

This PR adds functionality to make the diagnostics publishing frequency configurable in the ekf_localizer package and implements comprehensive tests to verify the behavior.

1. Add Configurable Diagnostics Publishing Frequency (4424425)

Feature Description

• Made diagnostics publishing frequency controllable via parameter
• Added diagnostics.diagnostics_publish_frequency parameter (default: 0.0 Hz = publish at every timer callback)
• When set to a value greater than 0.0, diagnostics are published at the specified frequency
• Uses a timer callback counter-based implementation to ensure accurate behavior even during rosbag playback when timestamps may be irregular

2. Add Tests for should_publish_diagnostics Function (780daa2)

Test Description

Added comprehensive test suite to verify the behavior of the should_publish_diagnostics() function.

Test Cases

1. should_publish_diagnostics_period_zero: Verifies that it always returns true when diagnostics_publish_period is 0.0
2. should_publish_diagnostics_period_negative: Verifies that it always returns true when diagnostics_publish_period is negative
3. should_publish_diagnostics_period_less_than_ekf_dt: Verifies that it always returns true when diagnostics_publish_period is less than ekf_dt
4. should_publish_diagnostics_with_counter: Verifies counter logic behavior
   • Verifies that it returns false when counter is below threshold
   • Verifies that it returns true and resets counter when counter reaches threshold
   • Verifies that it returns true and leaves remainder when counter exceeds threshold

Benefits

1. Performance Improvement: Reducing diagnostics publishing frequency can decrease CPU usage and network bandwidth
2. Flexibility: Users can adjust diagnostics publishing frequency according to their needs
3. Backward Compatibility: Default value (0.0) maintains existing behavior (publish at every callback)
4. Reliability: Ensures accurate behavior even during rosbag playback when timestamps may be irregular

Related links

The following pull-request must be merged simultaneously.
autowarefoundation/autoware_launch#1743

How was this PR tested?

• the following replay test was done.

1. Clone Autoware and do vcs import.
2. Cherry-pick the changes of this pull-request and the related one above in each src repo.
3. Build Autoware.
4. Run unit tests colcon test --packages-select autoware_ekf_localizer and confirm the result colcon test-result --all --verbose --test-result-base build/autoware_ekf_localizer
5. Set diagnostics_publish_frequency value to 1.0 in autoware_launch/config/localization/ekf_localizer.param.yaml
6. launch and replay the sample rosbag and map
7. Confirm the diagnostics publishing frequency of EKF localizer is 1.0 Hz.
   (Please verify using a script like this).

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

❌ Patch coverage is 86.36364% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 50.69%. Comparing base (a8a02d6) to head (98c329d).
⚠️ Report is 11 commits behind head on main.

Files with missing lines	Patch %	Lines
...ation/autoware_ekf_localizer/src/ekf_localizer.cpp	83.33%	0 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #824      +/-   ##
==========================================
+ Coverage   50.66%   50.69%   +0.02%     
==========================================
  Files         348      348              
  Lines       22474    22493      +19     
  Branches    10032    10043      +11     
==========================================
+ Hits        11386    11402      +16     
  Misses       9993     9993              
- Partials     1095     1098       +3     

Flag	Coverage Δ		*Carryforward flag
daily-humble	50.44% <ø> (-0.01%)	⬇️	Carriedforward from a8a02d6
daily-jazzy	49.90% <ø> (-0.01%)	⬇️	Carriedforward from a8a02d6
differential-humble	55.91% <86.36%> (?)
total	50.16% <ø> (-0.01%)	⬇️	Carriedforward from a8a02d6
total-humble	50.45% <ø> (-0.01%)	⬇️	Carriedforward from a8a02d6
total-jazzy	49.93% <ø> (-0.01%)	⬇️	Carriedforward from a8a02d6

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[Motsu-san]

This pull-request was merged to #826.
So I changed this pull-request state "Draft" and will close if nothing happens.