feat(ad_service_state_monitor)!: remove ad_service_state_monitor

[isamu-takagi]

Description

Remove ad_service_state_monitor and add the autoware state node for compatibility. The functionality of ad_service_state_monitor has been reorganized into the autoware state node and the following packages.

• state machine: /autoware/state is now converted in autoware state node from initialization state, routing state and operation mode provided by AD API
  • finalizing state: /autoware/shutdown service will continue to be supported in autoware state node.
  • arrived goal: The goal arrival check is moved to mission_planner package.
  • topic check: The topic rate check is moved to component_state_monitor package.
• clear route: /autoware/reset_routeis removed. Use /api/routing/clear_route instead.
• disengage_on_goal: The routing node in default_ad_api changes operation mode to stop when the vehicle goals.
• disengage_on_route: The routing node in default_ad_api changes operation mode to stop when /api/routing/clear_route .

Related links

https://github.com/tier4/autoware_launch/pull/568

Tests performed

Using simple_planning_simulator.

• Check if the vehicle can drive and if the state transitions as before.
• Check if the operation mode will be stop when the vehicle goals.
• Check if the operation mode will be stop when the route is cleared (while the vehicle is driving).
• Check if the autoware state will be finalizing when /autoware/shutdown service is called.

Notes for reviewers

None

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[kenji-miyake]

I've tested around the state and diagnostics, and it generally looks good to me.
One thing I'm concerned about is the sensing diagnostics are missing.

ros2 run rqt_runtime_monitor rqt_runtime_monitor --ros-args -r /diagnostics:=/diagnostics_err

❯ ros2 topic echo /system/emergency/hazard_status --no-arr
stamp:
  sec: 1669011143
  nanosec: 386327711
status:
  level: 3
  emergency: true
  emergency_holding: false
  diag_no_fault: '<sequence type: diagnostic_msgs/msg/DiagnosticStatus, length: 29>'
  diag_safe_fault: '<sequence type: diagnostic_msgs/msg/DiagnosticStatus, length: 0>'
  diag_latent_fault: '<sequence type: diagnostic_msgs/msg/DiagnosticStatus, length: 0>'
  diag_single_point_fault: '<sequence type: diagnostic_msgs/msg/DiagnosticStatus, length: 2>'

[isamu-takagi]

I've tested around the state and diagnostics, and it generally looks good to me.
One thing I'm concerned about is the sensing diagnostics are missing.

@kenji-miyake
This is because there is no rate check for sensing due to #2120 (comment). So I changed it to use DiscardAnalyzer.

[isamu-takagi]

@kenji-miyake
Instead of discarding it, I now add at least one status for alive monitoring. 46d9d4a