feat(ndt_scan_matcher & timing_violation_monitor): add function to notify end of Path to timing_violation_monitor

[nabetetsu]

Description

I'd like to add a new timing violation monitoring feature to the Localization of Autoware.universe. Timing violation means the event when response time is larger than expected.
For more information on timing_violation_moinitor, please see the Discussion thread.

As mentioned in the Discussion thread above, the timestamp value contained in topic is important for monitoring response time with timing_violation_monitor. As explained in the "Precondition on timestamp" section of the Discussion thread, if the end of the path is publishing an existing topic, then timing_violation_monitor will receive that topic nad use timestamp included in the topic. By using an existing topic, there is no implementation changes to the existing node implementation.
On the other hand, if the timestamp passed from the start node is not output at the end of node, it is necessary to send a dedicated message.

In this PR, system/timing_violation_monitor library is added to provide a function to send a dedicated message, which will be used in ndt_scan_matcher.

This PR focuses on the impact on existing code that may be caused by the introduction of the system/timing_violation_monitor mechanism. Therefore, this PR does not include the core implementation of timing_violation_monitor node. Since subscriber does not exist at this moment, so it has no operational impact.
The dedicated message is added in tier4_autoware_msgs by this PR.
I will create another PR for timing_violation_monitor node implementation.

The following overview diagram of the operation of timing_violation_monitor shows the areas of focus in this PR.

Changes

• Add ssytem/timing_violation_monitor as libarary for Localization
  • Add function to notify end of Path to system/timing_violation_monitor
• Add notifying function to ndt_scan_matcher/ndt_scan_matcher_core.cpp

Related links

Discussion thread

Tests performed

There is no operational impact from this PR at all.
The PR of the timing_violation_monitor node itself presents the test results.

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[takam5f2]

@nabetetsu
Do you mind if I ask you to change the title of this PR to feat(ndt_scan_matcher): add ndt publish mtt at interpolation?

[KYabuuchi]

LGTM 👍

[mitsudome-r]

I would like to have some discussion within TIER IV about the architecture of timing_violation_monitor. Please wait for a while before merging until the discussion is over.

[nabetetsu]

In order to separate the localization fixes and timing_violaton_monitor fixes, close this PR and create a new PR clipping only the localization fixes reviewed in this PR.