feat(planning_validator): add diag to check planning component latency

[satoshi-ota]

Description

⚠️ Please review and approve autowarefoundation/autoware_launch#1347 first.

I added a feature to calculate control component latency and to publish error diagnostic if it is larger than threshold.

Related links

Parent Issue:

• Link

How was this PR tested?

• I confirmed planning validator output error diag when I set very small threshold nominal_latency_threshold.
• PASS TIER IV INTERNAL SCENARIOS

Notes for reviewers

None.

Interface changes

Add new field to publish current latency.

diff --git a/planning/autoware_planning_validator/msg/PlanningValidatorStatus.msg b/planning/autoware_planning_validator/msg/PlanningValidatorStatus.msg
index cf127347a6..d1d493761d 100644
--- a/planning/autoware_planning_validator/msg/PlanningValidatorStatus.msg
+++ b/planning/autoware_planning_validator/msg/PlanningValidatorStatus.msg
@@ -15,6 +15,7 @@ bool is_valid_velocity_deviation
 bool is_valid_distance_deviation
 bool is_valid_longitudinal_distance_deviation
 bool is_valid_forward_trajectory_length
+bool is_valid_latency
 
 # values
 int64 trajectory_size
@@ -31,5 +32,6 @@ float64 distance_deviation
 float64 longitudinal_distance_deviation
 float64 forward_trajectory_length_required
 float64 forward_trajectory_length_measured
+float64 latency
 
 int64 invalid_count

Effects on system behavior

None.

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[kosuke55]

lgtm

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 26.26%. Comparing base (92da629) to head (e5846f0).
Report is 9 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main   #10241   +/-   ##
=======================================
  Coverage   26.25%   26.26%           
=======================================
  Files        1381     1381           
  Lines      107503   107531   +28     
  Branches    41411    41416    +5     
=======================================
+ Hits        28229    28238    +9     
- Misses      76459    76478   +19     
  Partials     2815     2815           

Flag	Coverage Δ		*Carryforward flag
differential	29.20% <100.00%> (?)
total	26.25% <ø> (-0.01%)	⬇️	Carriedforward from 92da629

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