feat(traffic_light_arbiter): add signal match validator

[TomohitoAndo]

Description

I added the signal match validator, which validate the match between perception signals and external signals and publish the received color only when they are identical.
This feature aims to enhance safety when both perception and external sources are available. It can be enabled by setting enable_signal_matching to true, though it is set to false by default.
Please see the Readme.md for the details.

Related Links

• TIER IV INTERNAL JIRA LINK
• feat(traffic_light_arbiter): add parameter of signal match validator autoware_launch#879
  • PR for launch

Tests performed

I conducted tests using the rosbag simulator. Please note that the Traffic Light Monitor Panel was specifically created for this testing and has not yet been merged into autoware.universe.

signal_matching_test.mp4

In this case, ego vehicle stops at the traffic light that has the ID of 1002.

• Both signals are RED, so the arbiter output is RED

• The external signal changed to GREEN and they are not identical now, so the output is UNKNOWN

• The perception signal changed to GREEN and they are identical now, so the output is GREEN, and the ego vehicle proceeds.

Effects on system behavior

This feature is disabled by default.
If this is enabled, this validates the match between perception signals and external signals and publish the received color only when they are identical.

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[codecov]

Codecov Report

Attention: 122 lines in your changes are missing coverage. Please review.

Comparison is base (c9e6dda) 14.99% compared to head (3106795) 14.98%.
Report is 32 commits behind head on main.

Files	Patch %	Lines
...affic_light_arbiter/src/signal_match_validator.cpp	0.00%	98 Missing ⚠️
...raffic_light_arbiter/src/traffic_light_arbiter.cpp	0.00%	23 Missing ⚠️
...e/traffic_light_arbiter/signal_match_validator.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

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##             main    #6423      +/-   ##
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- Coverage   14.99%   14.98%   -0.02%     
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  Files        1838     1840       +2     
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  Branches    38075    38065      -10     
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  Hits        19062    19062              
- Misses      86715    86808      +93     
  Partials    21322    21322              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	15.00% <ø> (+<0.01%)	⬆️	Carriedforward from 95fd4dc

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[knzo25]

Only nits that can be ignored.
LGTM !

[knzo25]

@TomohitoAndo
Just one small comment regarding some keyword-looking variable 🙏

[TomohitoAndo]

@knzo25
Could you check this PR as well? 🙏
autowarefoundation/autoware_launch#879

[knzo25]

LGTM!

[TomohitoAndo]

Thank you for your review! 🙇