fix(autoware_ekf_localizer): publish processing time detail

[SakodaShintaro]

Description

There are several tools for visualizing processing_time in autoware_tools.

• processing_time_visualizer
• system_performance_plotter

However, autoware_ekf_localizer currently does not publish the required topic. To use the above tools, a node needs to publish a topic with the type autoware::universe_utils::ProcessingTimeDetail (link1, link2).

Therefore, this pull request adds a processing_time publisher to autoware_ekf_localizer

How was this PR tested?

• planning_simulator with sample_map
• logging_simulator with sample_rosbag
• logging_simulator with awsim_gt_data(TIER IV INTERNAL)
• e2e_simulator with AWSIM v1.3.0

(1) processing_time_visualizer

ros2 run autoware_debug_tools processing_time_visualizer

(2) system_performance_plotter

ros2 bag record -o /path/to/result_rosbag --use-sim-time -e '.*processing_time.*'

and

ros2 run autoware_debug_tools processing_time_plotter /path/to/result_rosbag -c localization -s --skip_plt_show

The result directory is generated at current directory.

Notes for reviewers

None.

Interface changes

Topic changes

Additions and removals

Change type	Topic Type	Topic Name	Message Type	Description
Added	Pub	~/debug/processing_time_ms	tier4_debug_msgs::msg::ProcessingTimeTree	The processing time

Under default settings, this is /localization/pose_twist_fusion_filter/ekf_localizer/debug/processing_time_ms.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 83.33333% with 1 line in your changes missing coverage. Please review.

Project coverage is 29.19%. Comparing base (d77ac21) to head (7c9da94).
Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
...ation/autoware_ekf_localizer/src/ekf_localizer.cpp	83.33%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9245      +/-   ##
==========================================
- Coverage   29.20%   29.19%   -0.01%     
==========================================
  Files        1335     1335              
  Lines      102906   102896      -10     
  Branches    39925    39915      -10     
==========================================
- Hits        30051    30044       -7     
  Misses      69770    69770              
+ Partials     3085     3082       -3     

Flag	Coverage Δ		*Carryforward flag
differential	27.58% <83.33%> (?)
total	29.19% <ø> (-0.01%)	⬇️	Carriedforward from 5f2126f

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[SakodaShintaro]

I misunderstood. processing_time_plotter.py is currently only for Float64Stamped and does not seem to support ProcessingTimeDetail. I will consider what to do next.

https://github.com/autowarefoundation/autoware_tools/blob/3c33924534c5b3a2c7b997ff04b232adc87853a8/common/autoware_debug_tools/autoware_debug_tools/system_performance_plotter/processing_time_plotter.py#L32-L33