fix(agnocastlib): use worker thread for ros2 publisher

[veqcc]

Description

This PR changes to use worker thread for publishing ROS 2 messages, in order to reduce the latency of publish.

Major features are:

• create a std::thread which executes ROS 2 publish
• use mq to notify that ROS 2 publish should be done

Related links

TIER IV INTERNAL

How was this PR tested?

• sample application (required)
• Autoware (required)
• bash scripts/e2e_test_1to1_with_ros2sub
• bash scripts/e2e_test_2to2

Notes for reviewers

There is a problem around termination when std::thread are used.
It will be solved later by @Koichi98

[github-actions]

------------------------------------------------------------------------------
                           GCC Code Coverage Report
Directory: .
------------------------------------------------------------------------------
File                                       Lines    Exec  Cover   Missing
------------------------------------------------------------------------------
src/agnocastlib/include/agnocast.hpp           2       2   100%   
src/agnocastlib/include/agnocast_callback_info.hpp
                                              13      13   100%   
src/agnocastlib/include/agnocast_executor.hpp
                                               1       0     0%   38
src/agnocastlib/include/agnocast_publisher.hpp
                                              35      27    77%   71,113-114,118-122
src/agnocastlib/include/agnocast_smart_pointer.hpp
                                              56      56   100%   
src/agnocastlib/src/agnocast.cpp              82      15    18%   24,26,29,32,34-36,38,41,44,46-52,56-57,60-64,68-69,73-76,79,82,84-87,90,93,95-96,98-99,104,106-108,111-114,117,119-125,127,140-141,152-153,156-158,163
src/agnocastlib/src/agnocast_callback_info.cpp
                                              16       0     0%   12,16-17,20-24,28-31,34-37
src/agnocastlib/src/agnocast_component_container.cpp
                                              12       0     0%   5,7-8,11-13,16,18-20,22-23
src/agnocastlib/src/agnocast_component_container_mt.cpp
                                              28       0     0%   7,11-12,14-16,18-20,22-24,26-28,30,32-33,35-37,40,42,44-46,48-49
src/agnocastlib/src/agnocast_executor.cpp
                                              86       0     0%   11,13,15-17,19-21,25,27,30,32-33,36-40,43-46,48-49,52-54,56-59,62-63,68,71,74,76-80,83,87-88,91-92,95,97-101,104,107,111-116,119,122-125,127-130,133,136-137,147,150,152,155,159-160,163-165,169,175,178,180-181
src/agnocastlib/src/agnocast_multi_threaded_executor.cpp
                                              51       0     0%   9,13,15-17,19-20,25-26,29-33,36,38-41,44,48,51,53-55,58-60,64,66-67,71,74,77,79-80,82-83,87-88,91,96,100,103-104,107,114-117,120
src/agnocastlib/src/agnocast_publisher.cpp
                                              75       7     9%   10,12,23,26,31,33,35-41,45-47,50-55,58-65,69,72,77-86,89-90,92-95,97-100,102,105-106,110-111,116-117,120,123,125-130,133
src/agnocastlib/src/agnocast_single_threaded_executor.cpp
                                              19       0     0%   10-12,16,18-21,24,28-30,33,35-37,40-42
src/agnocastlib/src/agnocast_smart_pointer.cpp
                                              18       0     0%   6,9-16,20,23-30
src/agnocastlib/src/agnocast_subscription.cpp
                                              90       9    10%   10-12,14,17,21,24-26,28,30,32,34-39,41-46,48,51-58,61-64,66,68,71,73,76,80-83,85-91,94-96,99-102,105,108,112-117,119-124,126,128,131,135-136,138-139
src/agnocastlib/src/agnocast_utils.cpp        25      23    92%   48,50
------------------------------------------------------------------------------
TOTAL                                        609     152    25%
------------------------------------------------------------------------------

[github-actions]

------------------------------------------------------------------------------
                           GCC Code Coverage Report
Directory: .
------------------------------------------------------------------------------
File                                       Lines    Exec  Cover   Missing
------------------------------------------------------------------------------
src/agnocastlib/include/agnocast.hpp           2       2   100%   
src/agnocastlib/include/agnocast_callback_info.hpp
                                              13      13   100%   
src/agnocastlib/include/agnocast_executor.hpp
                                               1       0     0%   38
src/agnocastlib/include/agnocast_publisher.hpp
                                              35      27    77%   71,113-114,118-122
src/agnocastlib/include/agnocast_smart_pointer.hpp
                                              56      56   100%   
src/agnocastlib/src/agnocast.cpp              82      15    18%   24,26,29,32,34-36,38,41,44,46-52,56-57,60-64,68-69,73-76,79,82,84-87,90,93,95-96,98-99,104,106-108,111-114,117,119-125,127,140-141,152-153,156-158,163
src/agnocastlib/src/agnocast_callback_info.cpp
                                              16       0     0%   12,16-17,20-24,28-31,34-37
src/agnocastlib/src/agnocast_component_container.cpp
                                              12       0     0%   5,7-8,11-13,16,18-20,22-23
src/agnocastlib/src/agnocast_component_container_mt.cpp
                                              28       0     0%   7,11-12,14-16,18-20,22-24,26-28,30,32-33,35-37,40,42,44-46,48-49
src/agnocastlib/src/agnocast_executor.cpp
                                              86       0     0%   11,13,15-17,19-21,25,27,30,32-33,36-40,43-46,48-49,52-54,56-59,62-63,68,71,74,76-80,83,87-88,91-92,95,97-101,104,107,111-116,119,122-125,127-130,133,136-137,147,150,152,155,159-160,163-165,169,175,178,180-181
src/agnocastlib/src/agnocast_multi_threaded_executor.cpp
                                              51       0     0%   9,13,15-17,19-20,25-26,29-33,36,38-41,44,48,51,53-55,58-60,64,66-67,71,74,77,79-80,82-83,87-88,91,96,100,103-104,107,114-117,120
src/agnocastlib/src/agnocast_publisher.cpp
                                              75       7     9%   10,12,23,26,31,33,35-41,45-47,50-55,58-65,69,72,77-86,89-90,92-95,97-100,102,105-106,110-111,116-117,120,123,125-130,133
src/agnocastlib/src/agnocast_single_threaded_executor.cpp
                                              19       0     0%   10-12,16,18-21,24,28-30,33,35-37,40-42
src/agnocastlib/src/agnocast_smart_pointer.cpp
                                              18       0     0%   6,9-16,20,23-30
src/agnocastlib/src/agnocast_subscription.cpp
                                              90       9    10%   10-12,14,17,21,24-26,28,30,32,34-39,41-46,48,51-58,61-64,66,68,71,73,76,80-83,85-91,94-96,99-102,105,108,112-117,119-124,126,128,131,135-136,138-139
src/agnocastlib/src/agnocast_utils.cpp        25      23    92%   48,50
------------------------------------------------------------------------------
TOTAL                                        609     152    25%
------------------------------------------------------------------------------

[sykwer]

recommended: worker thread + conditional variable

[Koichi98]

There is a problem around termination when std::thread are used.
It will be solved later by @Koichi98

The problem was already fixed with your implementation on Publisher destructor!
I confirmed that ros2_publish thread go pass the if condition below, and there was nothing left in /dev/shm and /dev/mqueue.
Thanks!

    if (mq_msg.should_terminate) {

[atsushi421]

コンフリクト解決お願いします 🙇

[veqcc]

@Koichi98
口頭で指摘いただいた、mq 作成の順番を修正しました 🙇

[github-actions]

------------------------------------------------------------------------------
                           GCC Code Coverage Report
Directory: .
------------------------------------------------------------------------------
File                                       Lines    Exec  Cover   Missing
------------------------------------------------------------------------------
src/agnocastlib/include/agnocast.hpp           3       3   100%   
src/agnocastlib/include/agnocast_callback_info.hpp
                                              13      10    76%   92,94-95
src/agnocastlib/include/agnocast_executor.hpp
                                               1       0     0%   40
src/agnocastlib/include/agnocast_publisher.hpp
                                              88      56    63%   88,106-108,119,125,129,137-139,142,146-148,155-156,159-161,164-165,168,173,201-202,207-208,211-213,217-218
src/agnocastlib/include/agnocast_smart_pointer.hpp
                                              34      34   100%   
src/agnocastlib/src/agnocast.cpp              59      12    20%   19,22,24-30,34-35,38-42,46-47,51-54,57,60,62,65,67-68,73,75-77,80-83,86,88-94,96,108-109
src/agnocastlib/src/agnocast_callback_info.cpp
                                              16       0     0%   12,16-17,20-24,28-31,34-37
src/agnocastlib/src/agnocast_component_container.cpp
                                              12       0     0%   5,7-8,11-13,16,18-20,22-23
src/agnocastlib/src/agnocast_component_container_mt.cpp
                                              28       0     0%   7,11-12,14-16,18-20,22-24,26-28,30,32-33,35-37,40,42,44-46,48-49
src/agnocastlib/src/agnocast_executor.cpp
                                              90       0     0%   11,13,15-17,19-21,25,27,30,32-33,36-40,43-46,48-49,52-54,56-59,62-63,68,71,74,76-80,83,87-88,91-92,95,97-101,104,111-116,119,122-125,127-130,134-138,141,144-145,155,158,160,163,167-168,171-173,177,183,186,188-189
src/agnocastlib/src/agnocast_multi_threaded_executor.cpp
                                              53       0     0%   9,13,15-17,19-20,25-26,29-33,36,38-41,44,48,51,53-55,58-60,64,66-67,71,74,77,79-80,82-83,87-88,91,96,100,103-104,107,109-110,118-121,124
src/agnocastlib/src/agnocast_publisher.cpp
                                              54       7    13%   10,12,23,26,31,33,35-41,44,47,52-60,69-70,72-75,77-80,82,87,91-92,97,100,102-107,110
src/agnocastlib/src/agnocast_single_threaded_executor.cpp
                                              19       0     0%   10-12,16,18-21,24,28-30,33,35-37,40-42
src/agnocastlib/src/agnocast_smart_pointer.cpp
                                              18       0     0%   6,9-16,20,23-30
src/agnocastlib/src/agnocast_subscription.cpp
                                              51       9    17%   6-8,10,13,15,19-22,24-29,32-36,39,42,46-51,53-58,60,62,65,69-70,72-73
src/agnocastlib/src/agnocast_utils.cpp        29      26    89%   63,65-66
------------------------------------------------------------------------------
TOTAL                                        568     157    27%
------------------------------------------------------------------------------