feat(yabloc_monitor): componentize yabloc_monitor node

[KYabuuchi]

Description

Componentize the node in localization/yabloc_monitor.

Also, log output is changed from "screen" to "both".

Tests performed

1. Confirmed that yabloc works as conventional in logging_simulator

ros2 launch autoware_launch logging_simulator.launch.xml \
    map_path:=$HOME/Maps/nishishinjuku \
    vehicle_model:=sample_vehicle \
    sensor_model:=awsim_sensor_kit \
    pose_source:=yabloc

• rosbag
  • new rosbag (TIER IV INTERNAL USER ONLY) which has autoware_msg conveted from autoware_auto_msg
• map : This link was quoted from AWSIM tutorial.

If yabloc_monitor is running correctly, we can see the following diagnostics in rqt_runtime_monitor.

2. Confirmed that terminating the nodes process will output logs to both the terminal and the launch.log.

( The glog is printed only when using rclcpp_component customized by tier4. )

Effects on system behavior

The system behavior does not change.

Interface changes

The interface does not change.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 3 lines in your changes missing coverage. Please review.

Project coverage is 14.84%. Comparing base (507e3f4) to head (6dcfada).
Report is 6 commits behind head on main.

Files	Patch %	Lines
.../yabloc/yabloc_monitor/src/yabloc_monitor_core.cpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7509      +/-   ##
==========================================
- Coverage   14.84%   14.84%   -0.01%     
==========================================
  Files        1999     1999              
  Lines      139163   139130      -33     
  Branches    43716    43699      -17     
==========================================
- Hits        20661    20647      -14     
  Misses      95731    95731              
+ Partials    22771    22752      -19     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.84% <ø> (-0.01%)	⬇️	Carriedforward from 507e3f4

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[TaikiYamada4]

I checked that yabloc works fine in your rosbag data with rqt_runtime_monitor, and the glog appears when the yabloc_monitor it is terminated.

LGTM 👍