feat(obstacle_cruise_planner): add diagnostics publishing to cruise planner

[danielsanchezaran]

Description

Add an output to /diagnostics showing data about stop.
Also refactored a complex boolean logic to improve readability in node.cpp

Related links

Parent Issue:

• Link

How was this PR tested?

PSim

ros2 topic echo /diagnostics:

Example output:
Stop:
header:
stamp:
sec: 1720074365
nanosec: 133470854
frame_id: map
status:

• level: "\0"
  name: obstacle_cruise_planner
  message: ''
  hardware_id: ''
  values:
  • key: decision
    value: stop
  • key: stop_position
    value: '{89607.856760, 43010.903088, 6.367879}'
  • key: stop_orientation
    value: '{0.959131, 0.000695, -0.002355, 0.282953}'
  • key: distance_to_stop_pose
    value: '0.132687'
  • key: collision_point
    value: '{89614.570092, 43016.732919, 6.323306}'

No stop decision:

---

header:
stamp:
sec: 1720073879
nanosec: 55494950
frame_id: map
status:

• level: "\0"
  name: obstacle_cruise_planner
  message: ''
  hardware_id: ''
  values:
  • key: decision
    value: none

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[kosuke55]

LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 31.42857% with 24 lines in your changes missing coverage. Please review.

Project coverage is 28.67%. Comparing base (b54d57d) to head (c77f49a).
Report is 8 commits behind head on main.

Files	Patch %	Lines
..._obstacle_cruise_planner/src/planner_interface.cpp	31.25%	22 Missing ⚠️
...ning/autoware_obstacle_cruise_planner/src/node.cpp	0.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7836      +/-   ##
==========================================
- Coverage   28.67%   28.67%   -0.01%     
==========================================
  Files        1587     1588       +1     
  Lines      116303   116360      +57     
  Branches    49651    49680      +29     
==========================================
+ Hits        33354    33367      +13     
- Misses      73864    73907      +43     
- Partials     9085     9086       +1     

Flag	Coverage Δ		*Carryforward flag
differential	6.68% <31.42%> (?)
total	28.67% <ø> (+<0.01%)	⬆️	Carriedforward from 7a6bf39

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.