feat(component_state_monitor): monitor traffic light recognition output

[TomohitoAndo]

Description

I propose adding a topic monitor for the output of the traffic light recognition system. This is necessary because, in the current implementation of Autoware, the vehicle continues to operate as normal even when traffic signal messages are not received. Implementing this monitor could enhance safety by ensuring appropriate responses to traffic signal status.

PR for the launch:

• feat(component_state_monitor): monitor traffic light recognition output autoware_launch#720

Related links

• TIER IV INTERNAL
• TIER IV INTERNAL

Tests performed

Run logging simulator and confirmed hazard status is published properly.

Terminal1
Run logging simulator.

ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/data/map/sample-map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

Terminal2
Play sample rosbag in https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/

ros2 bag play sample-rosbag/ -r 0.2 -s sqlite3

Terminal3
Confirm the hazard status is published.

ros2 topic echo /system/emergency/hazard_status | grep traffic_signals -A17 -B1
--
  - level: "\x02"
    name: '/autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_traffic_light_recognition_traffic_signals: perceptio...'
    message: Error
    hardware_id: topic_state_monitor
    values:
    - key: topic
      value: /perception/traffic_light_recognition/traffic_signals
    - key: status
      value: Timeout
    - key: warn_rate
      value: 5.00 [Hz]
    - key: error_rate
      value: 1.00 [Hz]
    - key: timeout
      value: 1.00 [s]
    - key: measured_rate
      value: 49.34 [Hz]
    - key: now
      value: 1585897275.00 [s]
    - key: last_message_time
      value: 1585897269.75 [s]
---

simplescreenrecorder-2023-12-05_15.26.53.mp4

Effects on system behavior

If traffic signal messages are not received or its topic rate is decreased, the vehicle will enter the emergency state.

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.

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.

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

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (765a596) 15.32% compared to head (443f9b5) 0.00%.
Report is 158 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #5778       +/-   ##
==========================================
- Coverage   15.32%   0.00%   -15.33%     
==========================================
  Files        1721       1     -1720     
  Lines      118559      43   -118516     
  Branches    37995       0    -37995     
==========================================
- Hits        18169       0    -18169     
+ Misses      79657      43    -79614     
+ Partials    20733       0    -20733     

Flag	Coverage Δ
differential	0.00% <ø> (?)
total	?

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

[miursh]

LGTM