feat(mission_planner): publish initial and goal poses to logs

[zulfaqar-azmi-t4]

Description

Sometimes, while investigating the planning module, we might find a bug that we want to report on GitHub issues.

However, if we didn't echo the initial and goal poses before the simulation, we might miss this information, which could cause difficulties for the ticket's assignee in reproducing the issues.

Since log information is stored in the .ros folder, if we printed the above information, then we could just search back through the log and add the information to the ticket accurately.

Additionally, I personally think that initial and goal poses are essential pieces of information, and it is acceptable to publish them in the terminal.

I believe a lot of man-hours can be saved if we have this information in the terminal log.

After PR

The following information are published.

[component_container_mt-25] [INFO 1714642765.582309670] [planning.mission_planning.mission_planner] publish_pose_log(): initial pose - x: 89154.851562, y: 42421.679688, z: 7.037300:(L93)
[component_container_mt-25] [INFO 1714642765.582357231] [planning.mission_planning.mission_planner] publish_pose_log(): initial orientation - qx: 0.000580, qy: 0.000231, qz: -0.929063, qw: 0.369921:(L96)
[component_container_mt-25] [INFO 1714642765.582366538] [planning.mission_planning.mission_planner] publish_pose_log(): goal pose - x: 89428.851562, y: 43234.484375, z: 5.915613:(L93)
[component_container_mt-25] [INFO 1714642765.582373472] [planning.mission_planning.mission_planner] publish_pose_log(): goal orientation - qx: 0.000000, qy: 0.000000, qz: -0.487659, qw: 0.873034:(L96)

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[isamu-takagi]

@zulfaqar-azmi-t4
Could you please make it into a function?

@TakaHoribe
Could you check whether the log level is appropriate. I think INFO is fine because it only outputs when setting the route.

[TakaHoribe]

@zulfaqar-azmi-t4 @isamu-takagi

Thank you for your support. Setting initialpose is appropriate as an event notification using the INFO level, following the logging rules https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/console-logging/#rules

Please follow @isamu-takagi -san's comment and his approval.

[zulfaqar-azmi-t4]

@isamu-takagi
It is now refactored as a function in d4af7a8

[isamu-takagi]

LGTM