fix(ekf_localizer): update the state and publish the estimated pose only after initialization

[IshitaTakeshi]

Description

ekf_localizer has a bug that it publishes the default pose (identity) and accepts poses and twists for state update even before state initialization.
To resolve this error, I added a flag that manages the initialization state and made them update the state and publish messages only after the state initialization.

Related links

#1421

Tests performed

The test really needs to be added. But a lot of refactoring work is necessary before writing tests.

Notes for reviewers

• This behavior change can affect other Autoware modules. Please carefully read the code and validate the behavior
• I added the branch to the original repository so that other people can commit to this

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[codecov]

Codecov Report

Merging #1607 (e26f0ee) into main (a9acb3f) will decrease coverage by 0.02%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1607      +/-   ##
==========================================
- Coverage   10.62%   10.60%   -0.03%     
==========================================
  Files        1113     1113              
  Lines       78585    78739     +154     
  Branches    18402    18402              
==========================================
  Hits         8349     8349              
- Misses      61505    61659     +154     
  Partials     8731     8731              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.60% <0.00%> (ø)		Carriedforward from a9acb3f

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

Impacted Files	Coverage Δ
..._localizer/include/ekf_localizer/ekf_localizer.hpp	0.00% <ø> (ø)
localization/ekf_localizer/src/ekf_localizer.cpp	0.00% <0.00%> (ø)

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[mitsudome-r]

@IshitaTakeshi Are there any updates on this? What is still needed before making this ready for review?

[IshitaTakeshi]

@mitsudome-r No, so I turned this into ready

[kminoda]

LGTM from the localization module perspective, but I cannot tell whether other modules (e.g. planning, perception, control) that use the localization results will be OK as well...
Would you mind checking this PR? @yukkysaito

[yukkysaito]

It's OK 👍 LGTM

[kminoda]

@IshitaTakeshi It seems that the semantic-pull-request failed since the commit message is not the same as the PR title.
Would you fix this?

[IshitaTakeshi]

I think that both the commit message and the PR title are valid. Why does it fail?

[taikitanaka3]

@IshitaTakeshi
This PR contains only one commit Update the state and publish pose only after initialization
you need to set commit message fix(ekf_localizer): update the state and publish the estimated pose only after initialization to the first commit or add more commit to this PR.

I suggest to set first commit message to fix(ekf_localizer): update the state and publish the estimated pose only after initialization

[IshitaTakeshi]

Changed the commit message