feat: system related packages support jazzy

[liuXinGangChina]

Description

Fixes compilation errors in system packages for ROS 2 Jazzy. Updates deprecated APIs, adds missing headers, and resolves library compatibility issues.

Changes

1. autoware_default_adapi_universe

• Issue: Deprecated rmw_qos_profile_services_default API usage
• Fix: Replaced with AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() macro from autoware_qos_utils package
• Files Modified:
  • src/diagnostics.cpp: Added #include <autoware/qos_utils/qos_compatibility.hpp> and updated service client creation
  • package.xml: Added autoware_qos_utils dependency

2. autoware_mrm_handler

• Status: Deprecated rmw_qos_profile_services_default API usage
• Fix: Replaced with AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() macro from autoware_qos_utils package
• Files Modified:
  • src/mrm_handler/mrm_handler_core.cpp: Added #include <autoware/qos_utils/qos_compatibility.hpp> and updated service client creation
  • package.xml: Added autoware_qos_utils dependency

3. autoware_pipeline_latency_monitor

• Issue: Lambda callback signature incompatible with ROS 2 Jazzy's create_generic_subscription
• Fix: Changed callback signature from const std::shared_ptr<rclcpp::SerializedMessage> & to std::shared_ptr<const rclcpp::SerializedMessage>
• Files Modified:
  • src/pipeline_latency_monitor_node.cpp: Updated lambda callback parameter type

4. autoware_system_monitor

• Issue: Missing rclcpp/rclcpp.hpp header includes in monitor classes

• Fix: Added explicit #include <rclcpp/rclcpp.hpp> to all monitor class headers

• Files Modified:

  • include/system_monitor/hdd_monitor/hdd_monitor.hpp
  • include/system_monitor/mem_monitor/mem_monitor.hpp
  • include/system_monitor/gpu_monitor/gpu_monitor_base.hpp
  • include/system_monitor/voltage_monitor/voltage_monitor.hpp
  • include/system_monitor/ntp_monitor/ntp_monitor.hpp
  • include/system_monitor/net_monitor/net_monitor.hpp

• Issue: Missing <fstream> header includes

• Fix: Added #include <fstream> where std::ifstream and std::ofstream are used

• Files Modified:

  • reader/traffic_reader/traffic_reader_service.cpp
  • test/src/process_monitor/test_process_monitor.cpp

5. autoware_velodyne_monitor

• Issue: fmt v9 compatibility issue with std::byte causing compilation errors
• Fix: Removed fmt dependency and replaced fmt::format() with standard string concatenation
• Files Modified:
  • src/velodyne_monitor.cpp: Removed fmt includes and replaced fmt::format() with std::to_string() + string concatenation
  • CMakeLists.txt: Removed fmt from target_link_libraries

Related links

Parent Issue:

• Link Autoware.universe support ROS2.JAZZY #11418

How was this PR tested?

1. test with docker file produce by pr in autoware --
   ci: add jazzy docker build process in current ci pipeline autoware#6453
2. use rosdep install dependency packages automatically
   build command
   `colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --packages-select <all-packages-in-autoware_universe/system>

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 7 lines in your changes missing coverage. Please review.
✅ Project coverage is 18.10%. Comparing base (cdea4c1) to head (2652bf2).
⚠️ Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
...e_mrm_handler/src/mrm_handler/mrm_handler_core.cpp	0.00%	3 Missing ⚠️
...ency_monitor/src/pipeline_latency_monitor_node.cpp	0.00%	2 Missing ⚠️
...utoware_default_adapi_universe/src/diagnostics.cpp	0.00%	1 Missing ⚠️
...autoware_velodyne_monitor/src/velodyne_monitor.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #11626      +/-   ##
==========================================
+ Coverage   17.80%   18.10%   +0.30%     
==========================================
  Files        1746     1757      +11     
  Lines      122013   122384     +371     
  Branches    42794    43279     +485     
==========================================
+ Hits        21723    22158     +435     
- Misses      82076    82444     +368     
+ Partials    18214    17782     -432     

Flag	Coverage Δ		*Carryforward flag
daily	19.90% <ø> (+<0.01%)	⬆️	Carriedforward from cdea4c1
daily-cuda	17.79% <ø> (+<0.01%)	⬆️	Carriedforward from cdea4c1
differential	10.67% <0.00%> (?)
total-cuda	17.80% <ø> (+<0.01%)	⬆️	Carriedforward from cdea4c1

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.