feat: system diagnostic monitor message

tier4_system_msgs/CMakeLists.txt

@@ -16,6 +16,10 @@ ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AutowareState.msg"
+  "msg/DiagnosticGraph.msg"
+  "msg/DiagnosticLink.msg"
+  "msg/DiagnosticNode.msg"
+  "msg/OperationModeAvailability.msg"
   "msg/EmergencyState.msg"
   "msg/EmergencyStateStamped.msg"
   "msg/HazardStatus.msg"

tier4_system_msgs/msg/DiagnosticGraph.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+tier4_system_msgs/DiagnosticNode[] nodes

tier4_system_msgs/msg/DiagnosticLink.msg

@@ -0,0 +1,2 @@
+uint32 index  # The index of the nodes in the DiagnosticGraph message.
+bool used     # Whether the linked node is used if the dependency is conditional.

tier4_system_msgs/msg/DiagnosticNode.msg

@@ -0,0 +1,2 @@
+diagnostic_msgs/DiagnosticStatus status
+tier4_system_msgs/DiagnosticLink[] links

tier4_system_msgs/msg/OperationModeAvailability.msg

@@ -0,0 +1,8 @@
+builtin_interfaces/Time stamp
+bool stop
+bool autonomous
+bool local
+bool remote
+bool emergency_stop
+bool comfortable_stop
+bool pull_over