feat(imu_corrector): add gyro_bias_validator

[kminoda]

Description

I would like to add gyro_bias_estimator in imu_corrector in order to monitor the gyro bias estimation and detect when the bias is not negligible.

Current Autoware assumes static gyro bias offset, but in reality the offset may change due to various reasons. As a first step, I would like to add this node to detect this change.

Note that the next step would be to estimate the bias online (change dynamically) instead of using the static parameter calibrated beforehand. However, I will add this monitoring node first to mitigate the potential degradation on current system. The output of the node in this PR would not be used anywhere in the system, so it's safe as long as the computation is efficient enough.

Related links

Must be merged with:

• sample_sensor_kit_launch: feat(imu_corrector): add gyro_bias_estimator sample_sensor_kit_launch#70
• aip_launcher: feat(imu_corrector): add gyro_bias_estimator tier4/aip_launcher#168

Tests performed

Check if the gyro_bias_estimator outputs warnings when gyro bias is not correctly set

Gyro bias is not set for sample_sensor_kit by default, whereas the rosbag data shows a certain offset in gyroscope.

1. Launch logging_simulator following the Autoware tutorial with sample_sensor_kit and sample_vehicle
2. Check that gyro_bias_estimator is correctly launched (using rqt_runtime_monitor)
3. Check /diagnostics and verify that gyro_bias_estimator outputs "NG"
4. Check /sensing/imu/gyro_bias and verify that it outputs some data

Check if the gyro_bias_estimator outputs NO warnings when gyro bias is correctly set

First, reflect the following in src/param/autoware_individual_params/individual_params/config/default/sample_sensor_kit/imu_corrector.param.yaml.

/**:
  ros__parameters:
    angular_velocity_stddev_xx: 0.00339
    angular_velocity_stddev_yy: 0.00339
    angular_velocity_stddev_zz: 0.00339
    angular_velocity_offset_x: -0.005799
    angular_velocity_offset_y: -0.007148
    angular_velocity_offset_z: -0.001499

1. Launch logging_simulator following the Autoware tutorial with sample_sensor_kit and sample_vehicle
2. Check that gyro_bias_estimator is correctly launched
3. Check /diagnostics and verify that gyro_bias_estimator outputs "OK"
4. Check /sensing/imu/gyro_bias and verify that it outputs some data

Check if the gtest passes

Checked with

colcon test --event-handlers console_cohesion+ --packages-select imu_corrector

Notes for reviewers

Please follow the above test

Interface changes

Additional interface has been introduced, but not used.

Effects on system behavior

None

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[codecov]

Codecov Report

Patch coverage: 41.17% and project coverage change: +0.03% 🎉

Comparison is base (59a5e29) 15.10% compared to head (59900c8) 15.13%.
Report is 12 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4729      +/-   ##
==========================================
+ Coverage   15.10%   15.13%   +0.03%     
==========================================
  Files        1563     1567       +4     
  Lines      107901   107969      +68     
  Branches    33111    33118       +7     
==========================================
+ Hits        16299    16342      +43     
- Misses      73831    73851      +20     
- Partials    17771    17776       +5     

Flag	Coverage Δ		*Carryforward flag
differential	26.58% <41.17%> (?)
total	15.11% <ø> (+<0.01%)	⬆️	Carriedforward from 3b8c3a2

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

Files Changed	Coverage Δ
.../imu_corrector/src/gyro_bias_estimation_module.hpp	0.00% <0.00%> (ø)
sensing/imu_corrector/src/gyro_bias_estimator.cpp	0.00% <0.00%> (ø)
sensing/imu_corrector/src/imu_corrector_core.cpp	0.00% <ø> (ø)
...orrector/test/test_gyro_bias_estimation_module.cpp	77.27% <77.27%> (ø)
.../imu_corrector/src/gyro_bias_estimation_module.cpp	89.28% <89.28%> (ø)

... and 7 files with indirect coverage changes

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[TaikiYamada4]

I checked that it works fine on building and logging simulations, but there were just a few things that concerned me, so I commented on them in "Files changed".

[TaikiYamada4]

LGTM!