feat(autoware_multi_object_tracker): reduce trigger latency

[technolojin]

Description

Reduce latency of the multi object tracker caused by periodic trigger of the process.

First implementation
#6710

Revert of the first implementation
#8277
#8484

Issue: Latency due to the timer trigger cycle (and its phase)

The multi-object-tracker adds 50ms of latency. The latency was increased from 2-5ms to 15-60ms.

The latency is changing on each test.

The reason of additional latency is due to the phase difference between the detected object (after detection and merge) and the multi object tracker timer. The phase delay is determined at the launch time and it is random.

Solution

Bringing back high frequency checker of publish timing.

1. The previous implementation checked the latest publish timing when the main input channel arrival and timer.
2. The interval was set to keep in the range of 70% to 111% of the main frequency (which is 10 Hz in general).

The new implementation has been changed for stability.

1. The publish timing checking is triggered by the timer only.
2. The interval range is set to 85% to 105%.

Related links

TIER IV INTERNAL discussion
Reported increased latency after #8277

How was this PR tested?

TIER IV Cloud

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 12 lines in your changes missing coverage. Please review.

Project coverage is 24.17%. Comparing base (e709b10) to head (8ab4fbf).
Report is 22 commits behind head on main.

Files with missing lines	Patch %	Lines
...i_object_tracker/src/multi_object_tracker_node.cpp	0.00%	12 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8657      +/-   ##
==========================================
- Coverage   24.17%   24.17%   -0.01%     
==========================================
  Files        1399     1399              
  Lines      102126   102142      +16     
  Branches    38770    38774       +4     
==========================================
  Hits        24688    24688              
- Misses      74940    74956      +16     
  Partials     2498     2498              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	24.17% <ø> (+<0.01%)	⬆️	Carriedforward from f371a6a

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[YoshiRi]

LGTM but would you mind check my comment?