feat(ekf_localizer): add covariance ellipse diagnostics (#1041)

* Added ellipse diagnostics to ekf

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

* Fixed to ellipse_scale

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

---------

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Author: SakodaShintaro

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -39,6 +39,11 @@
       pose_no_update_count_threshold_error: 100
       twist_no_update_count_threshold_warn: 50
       twist_no_update_count_threshold_error: 100
+      ellipse_scale: 3.0
+      error_ellipse_size: 1.5
+      warn_ellipse_size: 1.2
+      error_ellipse_size_lateral_direction: 0.3
+      warn_ellipse_size_lateral_direction: 0.25
 
     misc:
       # for velocity measurement limitation (Set 0.0 if you want to ignore)