refactor(localization_error_monitor): refactor diag

[YamatoAndo]

Description

I refactored localization_error_monitor's diagnostics.

• refactor localization_error_monitor's diagnostics code
• add test code for diagnostics code
• add the diagnostics image to the readme
• rename diagnostic_aggregator's param

And I have consolidated what was originally output separately into one.

before

---

after

Related links

N/A

Tests performed

• LSim works well.
• check localization_error_monitor's diagnostics by using ros2 run rqt_runtime_monitor rqt_runtime_monitor

Notes for reviewers

N/A

Interface changes

N/A

Effects on system behavior

N/A

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[codecov]

Codecov Report

Attention: 90 lines in your changes are missing coverage. Please review.

Comparison is base (c552c3d) 14.85% compared to head (56d5faa) 15.78%.
Report is 2 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4964      +/-   ##
==========================================
+ Coverage   14.85%   15.78%   +0.92%     
==========================================
  Files        1627     1579      -48     
  Lines      112656   108672    -3984     
  Branches    34806    33576    -1230     
==========================================
+ Hits        16739    17150     +411     
+ Misses      77156    72916    -4240     
+ Partials    18761    18606     -155     

Flag	Coverage Δ		*Carryforward flag
differential	7.77% <31.29%> (?)
total	15.77% <ø> (+0.92%)	⬆️	Carriedforward from d2a263a

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

Files	Coverage Δ
...onitor/include/localization_error_monitor/node.hpp	0.00% <ø> (ø)
...calization/localization_error_monitor/src/node.cpp	0.00% <0.00%> (ø)
...ion/localization_error_monitor/src/diagnostics.cpp	60.97% <60.97%> (ø)
...calization_error_monitor/test/test_diagnostics.cpp	20.25% <20.25%> (ø)

... and 352 files with indirect coverage changes

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[KYabuuchi]

This refactoring is basically good. But some parts are difficult to read.
Please check my following comments.

[KYabuuchi]

We need to modify system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml too.

The condition needs to be changed from contains: [": localization_accuracy"] to contains: ["localization_accuracy"] in order to aggregate the concatenated diagnostics.

[YamatoAndo]

@ito-san
I changed the component name from localization_error_monitor: localization_accuracy to localization: localization_error_monitor, so I updated the diagnostic_aggregator's param.
Please review this PR.

[YamatoAndo]

@KYabuuchi I have made a change so that when the diagnostic status is "OK," the message "OK" will be displayed.

[SakodaShintaro]

Looks Good To Me

[KYabuuchi]

LGTM

[KYabuuchi]

RELATED LINK: autowarefoundation/autoware_launch#565
(It update default parameter of localization_error_monitor)

[ito-san]

LGTM

[YamatoAndo]

@Motsu-san Could you please approve this pr?

[Motsu-san]

I would like to understand why this change is needed and how influences on localization_error_monitor.

[Motsu-san]

@YamatoAndo After you resolve my question and conflicts, I will approve.

[Motsu-san]