feat(system_error_monitor): output emergency reason for debugging

[takayuki5168]

Related Issue(required)

Resolves #508

Description(required)

output latent fault (as rclcpp warn) and single point fault (as rclcpp error) in system_error_monitor

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Related PR(optional)

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[takayuki5168]

• Just launching autoware with simple psim, no debug message is output every 5s cycle.

• After positioning the ego vehicle, debug message is output every 5s cycle as follows
  

• After putting the goal pose, no debug message is output every cycle.

• When putting the ego out of lane, single point fault of lane_departure_checker occurs, and debug message is output every 5s cycle as follows
  

[codecov]

Codecov Report

Merging #510 (ce58358) into main (f9c2be7) will decrease coverage by 10.97%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #510       +/-   ##
==========================================
- Coverage   10.97%   0.00%   -10.98%     
==========================================
  Files         705       3      -702     
  Lines       49807     281    -49526     
  Branches     7119       0     -7119     
==========================================
- Hits         5464       0     -5464     
+ Misses      39957     281    -39676     
+ Partials     4386       0     -4386     

Impacted Files	Coverage Δ
...em_error_monitor/src/system_error_monitor_core.cpp	0.00% <0.00%> (ø)
...y_planner/src/scene_module/traffic_light/scene.cpp
..._error_monitor/src/planning_error_monitor_node.cpp
...toware_auto_geometry/include/geometry/interval.hpp
vehicle/raw_vehicle_cmd_converter/src/node.cpp
.../raw_vehicle_cmd_converter/src/steer_converter.cpp
...llower/test/test_longitudinal_controller_utils.cpp
...re_auto_geometry/include/geometry/lookup_table.hpp
...ternal_cmd_selector/external_cmd_selector_node.cpp
...ocity_converter/src/vehicle_velocity_converter.cpp
... and 693 more

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[takayuki5168]

It might be better not to output hazard_diag.message since it is just Warning or Error

[takayuki5168]

• a bit long error output every 5 sec, after positioning ego pose
  

• put ego pose out of lane, and error output every 5 sec for lane_departure_checker
  

[kenji-miyake]

If it's re-tested, LGTM.

[takayuki5168]

Thank you. I retested, and confirmed it works well.

My concern is after positioning ego pose and before positioning goal pose, a bit long error is output every 5 secs.
How do you feel?

[kenji-miyake]

@takayuki5168 In that case, you can add some states to ignore.

[kenji-miyake]

Ideally, we should extend system_error_monitor to understand which diagnostics can be ignored in each state respectively.
But since it takes time we can ignore them globally (apply the same settings for all diagnostics) for now.

[takayuki5168]

I think planning_error_monitor does not have to output error for no messages coming, since whether there are required messages or not is seen in another monitoring.

[takayuki5168]

#515
I created another PR to suppress error of planning_error_monitor.

I'll merge this PR after planning_error_monitor's PR is merged.