feat: add external api adaptor for calibration status

[TakumiKozaka-T4]

PR Type

• New Feature

Related Links

autowarefoundation/autoware.universe#722

Description

Add external api adapter for calibration data related to the linked PR.
This adapter provides the following items.

• ROS Topic : /api/external/get/calibration_status
  Calibration status (currently only accel_brake_map calibration status is included)
• ROS Service : /api/external/get/accel_brake_map_calibrator/data
  This returns plot and new accel brake map suggested by autoware

Review Procedure

Test for calibration status
Open three terminal and run the following.

• Terminal 1 : Run planning simulator
• Terminal 2 : Launch accel_brake_map_calibrator
• Terminal 3 : ros2 topic echo /api/external/get/calibration_status

Calibration status will be published as follows.

stamp:
sec: 1653529613
nanosec: 71053510
status_array:
target: 1
status: 0

Test for the server
Open two terminal and run the following.

• Terminal for server : ros2 run accel_brake_map_calibrator plot_csv_server_node.py
  "plot.svg" should be created in the directory you run the server.
• Terminal for client : ros2 run accel_brake_map_calibrator plot_csv_server_node.py
  The directory "test_data_save" should be created. It include "accel_map.csv"", "brake_map.csv" and "graph.svg".

Remarks

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• All open points are addressed and tracked via issues or tickets
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[yabuta]

@TakumiKozaka-T4 Please add api name to description.

[TakumiKozaka-T4]

I added api name and brief summary.

[yabuta]

@TakumiKozaka-T4 Cc: @isamu-takagi
Do you add this api to document?

[TakumiKozaka-T4]

@yabuta
Not yet. I'll add this later.

[TakumiKozaka-T4]

Fixed review procedure for calibration status.
(Changed topic name from "/accel_brake_map_calibrator/output/calibration_status" to "/api/external/get/calibration_status")

[yabuta]

LGTM