feat(control_validator): add diag to check control component latency

[satoshi-ota]

Description

⚠️ Please review and approve autowarefoundation/autoware_launch#1349 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 control 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/control/autoware_control_validator/msg/ControlValidatorStatus.msg b/control/autoware_control_validator/msg/ControlValidatorStatus.msg
index 5db179f5a9..c40f160510 100644
--- a/control/autoware_control_validator/msg/ControlValidatorStatus.msg
+++ b/control/autoware_control_validator/msg/ControlValidatorStatus.msg
@@ -4,10 +4,12 @@ builtin_interfaces/Time stamp
 bool is_valid_max_distance_deviation
 bool is_rolling_back
 bool is_over_velocity
+bool is_valid_latency
 
 # values
 float64 max_distance_deviation
 float64 target_vel
 float64 vehicle_vel
+float64 latency
 
 int64 invalid_count

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 25.00000% with 12 lines in your changes missing coverage. Please review.

Project coverage is 26.25%. Comparing base (92da629) to head (c1cdca2).
Report is 7 commits behind head on main.

Files with missing lines	Patch %	Lines
...toware_control_validator/src/control_validator.cpp	25.00%	12 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10240      +/-   ##
==========================================
- Coverage   26.25%   26.25%   -0.01%     
==========================================
  Files        1381     1381              
  Lines      107503   107536      +33     
  Branches    41411    41418       +7     
==========================================
+ Hits        28229    28233       +4     
- Misses      76459    76488      +29     
  Partials     2815     2815              

Flag	Coverage Δ		*Carryforward flag
differential	7.76% <25.00%> (?)
total	26.25% <ø> (+<0.01%)	⬆️	Carriedforward from 92da629

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