feat: add published_time publisher debug to packages

[brkay54]

Description

Part of:

• Make it possible to detect publishing times of the messages in the pipelines #6255

Depends on:

• feat(tier4_autoware_utils): add published time debug class into utils #6440

Related links

Tests performed

Tested on PSim and e2e_simulator, worked well.

Notes for reviewers

Interface changes

Effects on system behavior

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[xmfcx]

• https://github.com/autowarefoundation/autoware.universe/actions/runs/8264643291/job/22608668912?pr=6490#step:8:2488

This failed but probably a flaky test. Opened an issue for it:

• vehicle_cmd_gate has flaky test #6612

[xmfcx]

Thanks for all the work. I've made my review, most of them are for specific parts.

But following comments should be removed from everywhere:

// Publish published time only if there are subscribers more than 1

// PublishedTime Publisher

https://stackoverflow.blog/2021/12/23/best-practices-for-writing-code-comments/

Rule 1: Comments should not duplicate the code.

Otherwise you are violating the Rule #1 of writing code comments.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 62 lines in your changes are missing coverage. Please review.

Project coverage is 14.78%. Comparing base (ca46a8f) to head (b1724f5).
Report is 1 commits behind head on main.

Files	Patch %	Lines
...ning/planning_validator/src/planning_validator.cpp	0.00%	2 Missing and 3 partials ⚠️
...ng_object_merger/src/decorative_tracker_merger.cpp	0.00%	4 Missing ⚠️
...ction_by_tracker/src/detection_by_tracker_core.cpp	0.00%	3 Missing ⚠️
planning/obstacle_avoidance_planner/src/node.cpp	0.00%	1 Missing and 2 partials ⚠️
planning/obstacle_stop_planner/src/node.cpp	0.00%	1 Missing and 2 partials ⚠️
...anning/path_smoother/src/elastic_band_smoother.cpp	0.00%	1 Missing and 2 partials ⚠️
sensing/pointcloud_preprocessor/src/filter.cpp	0.00%	2 Missing and 1 partial ⚠️
...l/trajectory_follower_node/src/controller_node.cpp	0.00%	0 Missing and 2 partials ⚠️
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	0.00%	0 Missing and 2 partials ⚠️
...re_remover/src/detected_object_feature_remover.cpp	0.00%	2 Missing ⚠️
... and 16 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6490      +/-   ##
==========================================
- Coverage   14.79%   14.78%   -0.01%     
==========================================
  Files        1920     1920              
  Lines      132385   132447      +62     
  Branches    39345    39378      +33     
==========================================
  Hits        19585    19585              
- Misses      90956    90991      +35     
- Partials    21844    21871      +27     

Flag	Coverage Δ		*Carryforward flag
differential	16.76% <0.00%> (?)
total	14.79% <ø> (+<0.01%)	⬆️	Carriedforward from ca46a8f

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

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[xmfcx]

@brkay54 Could you go through all the changed packages to make sure they have <depend>tier4_autoware_utils</depend> in their package.xml? (just to make sure)

[brkay54]

@xmfcx Thank you for the detailed review. 🙏🏼

@brkay54 Could you go through all the changed packages to make sure they have <depend>tier4_autoware_utils</depend> in their package.xml? (just to make sure)

Just checked the missed ones, I added them with the last commit.

[xmfcx]

@brkay54 thanks,

Right now only way for this PR to break existing behavior or even crash the modified nodes is:

If published_time_publisher_ is not initialized in a constructor and if it is called from somewhere, it will cause segfault.

Could you make sure every modified node initializes this published_time_publisher_ object?

I don't know if there is a way to check this in a more automated way.

[xmfcx]

I've checked all modified .cpp files manually to make sure they are all initialized in the constructors, it should be ok to merge this now.

Waiting for the re-run test that had failed from an unrelated flaky test.