fix(autoware_ekf_localizer): publish processing_time_ms

[SakodaShintaro]

Description

There is a tool for visualizing processing_time_ms in autoware_tools.

• system_performance_plotter

However, autoware_ekf_localizer currently does not publish the required topic. To use the above tools, a node needs to publish a topic with the type tier4_debug_msgs::msg::Float64Stamped and the name processing_time_ms.

Therefore, this pull request adds a processing_time_ms publisher to autoware_ekf_localizer.

How was this PR tested?

• planning_simulator with sample_map
• logging_simulator with sample_rosbag
• logging_simulator with awsim_gt_data(TIER IV INTERNAL)
• e2e_simulator with AWSIM v1.3.0

system_performance_plotter

ros2 bag record -o /path/to/result_rosbag --use-sim-time -a

and

ros2 run autoware_debug_tools processing_time_plotter \
    -c localization -s --skip_plt_show \
    /path/to/result_rosbag 

The result directory is generated at current directory.

Notes for reviewers

None.

Interface changes

Topic changes

Additions and removals

Change type	Topic Type	Topic Name	Message Type	Description
Added	Pub	~/debug/processing_time_ms	tier4_debug_msgs::msg::Float64Stamped	The processing time

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 28.90%. Comparing base (19364ff) to head (098f205).
Report is 5 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9443      +/-   ##
==========================================
- Coverage   29.27%   28.90%   -0.38%     
==========================================
  Files        1441     1438       -3     
  Lines      108617   108109     -508     
  Branches    41582    41377     -205     
==========================================
- Hits        31794    31245     -549     
- Misses      73740    73838      +98     
+ Partials     3083     3026      -57     

Flag	Coverage Δ		*Carryforward flag
differential	25.93% <100.00%> (?)
total	28.89% <ø> (-0.38%)	⬇️	Carriedforward from 51f9380

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