feat(aw_pose_covariance_modifier_node): add aw_pose_covariance_modifier for using NDT and GNSS together

[meliketanrikulu]

Description

This PR was created to use NDT and GNSS together in localization. In order for EKF to work properly, the covariance values of the given inputs must be provided correctly as input. In Default AW, NDT covariance values are provided with default values. GNSS, on the other hand, provides its own error in a healthy way.

This PR also suggests that we drive with reference to the trusted source (GNSS), which can reliably calculate the error. It aims to drive with GNSS alone when the GNSS error is low, to use NDT-GNSS together when the GNSS error increases, and to use only NDT alone when the GNSS error goes beyond acceptable limits.

Related links

This PR is related this proposal -> https://github.com/orgs/autowarefoundation/discussions/4134#discussioncomment-8394375

Tests performed

Test results will be shared.

Notes for reviewers

This PR is currently shared as a draft.

Interface changes

Effects on system behavior

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[KYabuuchi]

Thank you for creating the PR. I really appreciate your contribution. 😄

From our previous discussions, I think it was decided to use the set_parameter service to modify the covariance of NDT. However, this PR is adding new service and new subscriber to NDT. Is there a specific reason for this change in architecture?

NDT already has a huge amount of feature, and I think it would be preferable to perform calculations such as covariance modification within aw_pose_covariance_modifier.

[xmfcx]

Rebased to the latest main branch to make sure CI is running correctly.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 113 lines in your changes are missing coverage. Please review.

Project coverage is 14.77%. Comparing base (59f7031) to head (99524bd).
Report is 4 commits behind head on main.

Files	Patch %	Lines
...ion/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp	0.00%	64 Missing and 2 partials ⚠️
...fier_node/src/aw_pose_covariance_modifier_node.cpp	0.00%	46 Missing ⚠️
...include/ndt_scan_matcher/ndt_scan_matcher_core.hpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6477      +/-   ##
==========================================
- Coverage   14.78%   14.77%   -0.02%     
==========================================
  Files        1917     1919       +2     
  Lines      132038   132142     +104     
  Branches    39228    39256      +28     
==========================================
  Hits        19523    19523              
- Misses      90726    90827     +101     
- Partials    21789    21792       +3     

Flag	Coverage Δ		*Carryforward flag
differential	3.14% <0.00%> (?)
total	14.78% <ø> (+<0.01%)	⬆️	Carriedforward from 59f7031

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

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[xmfcx]

Suggested change

find_package(rcl_interfaces REQUIRED)

[xmfcx]

This PR should be updated while considering these:

• NDT nodes shouldn't be changed unless it's absolutely necessary
• The additional logic should stay outside of existing nodes for ease of modularity
• The new additions shouldn't break existing structure

[meliketanrikulu]

This PR should be updated while considering these:

• NDT nodes shouldn't be changed unless it's absolutely necessary
• The additional logic should stay outside of existing nodes for ease of modularity
• The new additions shouldn't break existing structure

Thank you @xmfcx .I will update the PR taking these into consideration. I shared the required architecture for this PR below the proposal. (https://github.com/orgs/autowarefoundation/discussions/4134#discussioncomment-8693020)

[xmfcx]

@meliketanrikulu I'm closing this PR.
Could you open the updated proposal in a new PR?