* Feature/control performance analysis (autowarefoundation#1212)

* First commit of kinematic_controller

* First commit.

* second commit

* Just setup updated Autoware.

* changed package name.

* Messages variables are created.

* Writing subscribers and publishers.

* Writing subscribers. Traj, pose and control_values are read into the node.

* Computing control performance variables.

* Computing control performance variables.

* Current velocity subscribed.

* Acceleration performance is computed.

* Publishing completed. Will start rqt_multiplot

* Publishing completed. Decay rate fixed. Will start rqt_multiplot

* rqt_multiplot first configuration.

* Update pure_pursuit.launch

* Update pure_pursuit.launch

* Update .gitignore

* Update Error.msg

* Update control_performance_utils.cpp

* Update ErrorStamped.msg

* Update package.xml

* rqt_multiplot first configuration.

* Update controller_performance_core.cpp

* Update controller_performance_core.cpp

* Update CMakeLists.txt

* Update control_performance_analysis_param.yaml

* EPS is added for value_decay_rate.

* There is a  bug.

* Bug removed.

* Bug removed.

* lateral_acceleration is published.

* Interpolated pose is added.

* Update controller_performance_node.cpp

* find Curve index bug is removed.

* dot product on projection is updated.

* Vehicle measured steering is included in the node and rqt_graph.

* Review will be requested.

* After the test:
Three point curvature module is added. Std:vector will be fixed.

* After the test:
Curvature plot is added.

* After the test:
Fine tuned.

* rqt curvature is modified.

* Pure pursuit curvature is implemented and tested. Results are fine.

* addressed some code review issues. Will replace get_pose.

* GetPose is removed.

* All the core review issues have been addressed.

* Rename files

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Porting control performance analysis

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Apply lint

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add boost dependency for optional

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Remove confusing abbreviation

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix dependency in packages.xml

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add missing new line

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add comment for eigen macro

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* pre-commit fixes

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Ali BOYALI <boyali@users.noreply.github.com>

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix typo

* fix Contro -> Control

* fix for spellcheck

* fix

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply Black

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* adapt to actuation cmd/status as control msg

* fix readme

* fix topics

* fix remaing topics

* as to pacmod interface

* fix vehicle status

* add header to twist

* revert gyro_odometer_change

* revert twist topic change

* revert unchanged package

* port control_performance_analysis

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* rename

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* fix topic name

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* remove unnecessary depedency

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* change name of odom topic

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* add readme

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* update readme

* update readme

* Update control/control_performance_analysis/README.md

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>