feat: publisher and server for calibration with external application

[TakumiKozaka-T4]

Description

Add the following items for calibration with external applications.

• A dedicated publisher for calibration status
• A server to send a graph and new parameters for calibration.
• A client for server operational test.

Related links

Need new .msg and .srv in this PR
ADAPI adaptor Link
Launcher for external ad_api_adaptor Link

Tests performed

Preparation

1. Make log.csv, accel_map.csv and brake_map.csv in the directory "install/accel_brake_map_calibrator/share/accel_brake_map_calibrator/config".

It's better to copy accel_map.csv and brake_map.csv from default map directory and change value in the maps.

Test for calibration status

1. Change update_suggest_thresh in the below file from 0.7 to 0.9.(src/autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/config/accel_brake_map_calibrator.param.yaml)
2. Run planning simulator.
3. Set initial position and goal.
4. Open the other terminal and run ros2 run accel_brake_map_calibrator sim_actuation_status_publisher.py.
5. Open the other terminal and run ros2 launch accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml.
6. Open the other terminal and run ros2 topic echo /accel_brake_map_calibrator/output/calibration_status.
7. Drive vehicle in the simulator for 500 meters or more (to collect driving data).

Calibration status will change from 0 (=NORMAL) to 1 (=WARNING) after the driving.

Test for the server
Open two terminal and run the following.

• Terminal for server : ros2 launch accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml

• Terminal for client : ros2 run accel_brake_map_calibrator plot_csv_server_node.py
  "plot.svg" should be created in the directory you run the script.
  The directory "test_data_save" should be created. It include "accel_map.csv"", "brake_map.csv" and "graph.svg".

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[yabuta]

LGTM

@kenji-miyake Please comment if you see something wrong with the code.

[kenji-miyake]

CI didn't passed. 🤔

[kenji-miyake]

As I'm not familiar with this component, it's difficult for me to do detailed reviews, but I added some small comments. The rest generally looks good to me.

[kenji-miyake]

But you have to fix other CI checks.

[codecov]

Codecov Report

Merging #722 (40b59df) into main (a0be4f8) will decrease coverage by 0.04%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #722      +/-   ##
========================================
- Coverage   9.02%   8.98%   -0.05%     
========================================
  Files       1025    1025              
  Lines      69485   69825     +340     
  Branches   11725   11725              
========================================
  Hits        6271    6271              
- Misses     58011   58351     +340     
  Partials    5203    5203              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	9.00% <0.00%> (ø)		Carriedforward from a0be4f8

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...map_calibrator/accel_brake_map_calibrator_node.hpp	0.00% <ø> (ø)
...calibrator/src/accel_brake_map_calibrator_node.cpp	0.00% <0.00%> (ø)

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update a0be4f8...40b59df. Read the comment docs.