Xtk motion velocity planner diag

[xtk8532704]

Description

This PR adds a publisher in motion_velocity_planner to publish diagnostics as what this PR did for cruise_planner.

The published diagnostics contain information that shows which module (DynamicObstacleStopModule; OutOfLaneModule; ObstacleVelocityLimiterModule) made what decision (stop; slow_down). An example is as follows:

$ ros2 topic echo /diagnostics
---
header:
  stamp:
    sec: 1723713886
    nanosec: 559327470
  frame_id: map
status:
- level: "\0"
  name: autoware::motion_velocity_planner::OutOfLaneModule.stop
  message: ''
  hardware_id: ''
  values:
  - key: decision
    value: none
- level: "\0"
  name: autoware::motion_velocity_planner::OutOfLaneModule.slow_down
  message: ''
  hardware_id: ''
  values:
  - key: decision
    value: autoware::motion_velocity_planner::OutOfLaneModule.slow_down
- level: "\0"
  name: autoware::motion_velocity_planner::ObstacleVelocityLimiterModule.stop
  message: ''
  hardware_id: ''
  values:
  - key: decision
    value: none
- level: "\0"
  name: autoware::motion_velocity_planner::ObstacleVelocityLimiterModule.slow_down
  message: ''
  hardware_id: ''
  values:
  - key: decision
    value: none
- level: "\0"
  name: autoware::motion_velocity_planner::DynamicObstacleStopModule.stop
  message: ''
  hardware_id: ''
  values:
  - key: decision
    value: none
- level: "\0"
  name: autoware::motion_velocity_planner::DynamicObstacleStopModule.slow_down
  message: ''
  hardware_id: ''
  values:
  - key: decision
    value: none
---

the decision info in diags will be used by planning evaluator.

Related links

Parent Issue:

• Link

How was this PR tested?

Screencast.from.2024.08.15.18.24.11.webm

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[sonarcloud]

Quality Gate passed

Issues
2 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarCloud