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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