feat(emergency_handler): add a selector for multiple MRM behaviors

[mkuri]

Description

Provide a mechanism to select multiple MRM behaviors depending on the hazard state.
#1856

• Emergency handler

  • Activate mrm_emergency_stop_operator (a new node) when hazard status of single point fault is subscribed
  • Activate mrm_comfortable_stop_operator (a new node) when hazard status of latent fault is subscribed
    • Can be disabled by a parameter
      
  • Replace emergency_state with mrm_state with MRM behaviors added
    

• MRM Emergency stop operator

  • Generate emergency stop commands according to the emmergency stop MRM order
    

• MRM Comfortable stop operator

  • Generate comfortable stop commands according to the comfortable stop MRM order
    

• Vehicle cmd gate

  • Make a decision on the output of emergency/control_cmd based on the mrm_state
    

• Limitations and future works

  • Hazard lights do not turn on at comfortable stop
  • MRM behaviors can only correspond to hazard status levels

Related links

#1856

Tests performed

• Single point fault caused by dummy_diag_publisher and confirmed to be a emergency stop

emergency_stop_output.mp4

• Latent fault caused by dummy_diag_publisher and confirmed to be a comfortable stop

comfortable_stop_output.mp4

Notes for reviewers

Need to apply the following PRs to add the msgs

• feat(autoware_adapi_v1_msgs): add msgs for MRM autoware_adapi_msgs#16
• feat(tier4_system_msgs): add mrm behavior status msg and operation srv tier4/tier4_autoware_msgs#60

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[mkuri]

Sorry to bother you. Could you please review?

The maintainers of each package are listed below.
@TakaHoribe -san : vehicle_cmd_gate, tier4_control_launch
@kenji-miyake -san : emergency_handler, tier4_system_launch, tier4_system_msgs (tier4/tier4_autoware_msgs#60)
@ito-san -san : tier4_system_launch
@isamu-takagi -san: autoware_adapi_v1_msgs (autowarefoundation/autoware_adapi_msgs#16)

I would like to ask @yukkysaito -san and @isamu-takagi -san to review the overall design.

[kenji-miyake]

If you've re-checked the behavior, I think it's okay.

[codecov]

Codecov Report

Base: 11.22% // Head: 11.08% // Decreases project coverage by -0.14% ⚠️

Coverage data is based on head (25936c4) compared to base (e00783b).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2070      +/-   ##
==========================================
- Coverage   11.22%   11.08%   -0.15%     
==========================================
  Files        1198     1202       +4     
  Lines       79325    86592    +7267     
  Branches    20343    20872     +529     
==========================================
+ Hits         8907     9601     +694     
- Misses      60671    66852    +6181     
- Partials     9747    10139     +392     

Flag	Coverage Δ		*Carryforward flag
differential	11.32% <0.00%> (?)
total	11.10% <0.00%> (-0.12%)	⬇️	Carriedforward from d7736ae

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

Impacted Files	Coverage Δ
...rol/operation_mode_transition_manager/src/data.cpp	0.00% <0.00%> (ø)
...ol/operation_mode_transition_manager/src/state.cpp	0.00% <0.00%> (ø)
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	0.44% <0.00%> (+0.44%)	⬆️
control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp	0.00% <ø> (ø)
...clude/emergency_handler/emergency_handler_core.hpp	0.00% <ø> (ø)
...r/src/emergency_handler/emergency_handler_core.cpp	0.00% <0.00%> (ø)
...r/src/emergency_handler/emergency_handler_node.cpp	0.00% <0.00%> (ø)
...op_operator/mrm_comfortable_stop_operator_core.cpp	0.00% <0.00%> (ø)
...stop_operator/mrm_emergency_stop_operator_core.cpp	0.00% <0.00%> (ø)
...tic_evaluator/include/kinematic_evaluator/stat.hpp	62.50% <0.00%> (-19.32%)	⬇️
... and 819 more

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[TakaHoribe]

LGTM.

[ito-san]

LGTM

[yukkysaito]

LGTM