feat(pid_longitudinal_controller): add diag for control state

[h-ohta]

Description

This PR adds diagnostic for control state. It allows us to notify error when control state is emergency state.
There are some sample images.

OK

Translation is larger than threshold

Rotation is larger than threshold

Related links

TierIV Internal Link

https://tier4.atlassian.net/browse/T4PB-20935

Tests performed

• launch psim
• set 2d pose estimate and 2d nav goal
• launch ros2 run rqt_robot_monitor rqt_robot_monitor
• confirm controller_node: control_state
• move ego pose in some positions

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[codecov]

Codecov Report

Base: 10.37% // Head: 10.52% // Increases project coverage by +0.15% 🎉

Coverage data is based on head (2c6e587) compared to base (0a01850).
Patch coverage: 58.06% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2092      +/-   ##
==========================================
+ Coverage   10.37%   10.52%   +0.15%     
==========================================
  Files        1175     1176       +1     
  Lines       84040    84313     +273     
  Branches    19591    19757     +166     
==========================================
+ Hits         8717     8874     +157     
- Misses      65787    65806      +19     
- Partials     9536     9633      +97     

Flag	Coverage Δ		*Carryforward flag
differential	39.02% <51.85%> (?)
total	10.35% <88.88%> (ø)		Carriedforward from 0a01850

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

Impacted Files	Coverage Δ
...rajectory_follower/pid_longitudinal_controller.hpp	0.00% <0.00%> (ø)
...ctory_follower/src/pid_longitudinal_controller.cpp	43.37% <60.00%> (+6.26%)	⬆️
...odel/vehicle_model_bicycle_kinematics_no_delay.cpp	89.65% <0.00%> (-1.65%)	⬇️
control/trajectory_follower/src/mpc.cpp	48.43% <0.00%> (+0.29%)	⬆️
...vehicle_model/vehicle_model_bicycle_kinematics.cpp	86.84% <0.00%> (+2.97%)	⬆️
...ctory_follower/include/trajectory_follower/mpc.hpp	56.00% <0.00%> (+9.33%)	⬆️

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[takayuki5168]

LGTM

[takayuki5168]

@ito-san Could you review this PR

[ito-san]

LGTM!

[h-ohta]

@takayuki5168 @TakaHoribe Could you merge this?

[takayuki5168]

@h-ohta Don't we have to create a PR to tier4/autoware_launch?

[h-ohta]

@takayuki5168 Could you tell me what change I have to add?

[takayuki5168]

@h-ohta
yaml file. If the change of yaml file has to be applied to tier4/autoware_launch.

[h-ohta]

@takayuki5168
We don't need some changes for tier4/autoware_launch because it uses control.param.yaml in system_error_monitor as it is.