feat(diagnostic_converter): fix output metrics topic name and add to converter (#7495)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Author: kosuke55

Diff for: launch/tier4_control_launch/launch/control.launch.py

@@ -381,7 +381,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/diagnostics", "/diagnostics"),
             ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/trajectory", "/planning/scenario_planning/trajectory"),
-            ("~/output/metrics", "~/metrics"),
+            ("~/metrics", "/diagnostic/control_evaluator/metrics"),
         ],
     )
 

Diff for: launch/tier4_simulator_launch/launch/simulator.launch.xml

@@ -147,7 +147,7 @@
   <!-- Diagnostic Converter -->
   <group if="$(var launch_diagnostic_converter)">
     <node name="diagnostic_converter" exec="diagnostic_converter" pkg="diagnostic_converter" output="screen">
-      <param name="diagnostic_topics" value="[/diagnostic/planning_evaluator/metrics, /diagnostics_err]"/>
+      <param name="diagnostic_topics" value="[/diagnostic/planning_evaluator/metrics, /diagnostic/control_evaluator/metrics, /diagnostics_err]"/>
     </node>
   </group>