fix(imu_corrector): remove non-periodic publish to /diagnostics topic

[interimadd]

Description

Background

Publishing rate to /diagnostics from gyro_bias_estimator is set by diagnostics_updater_interval_sec and setPeriod()
However when gyro bias is updated, gyro_bias_estimator publish with force_update() and setPeriod() is executed again.

Changes

Removed force_update() and setPeriod() in gyro_bias_estimator timer callback.

Related links

Private Links:

• TIERIV INTERNAL LINK

How was this PR tested?

/diagnostics contents and publishing rate was checked by following procedure.

# terminal 1
~/autoware$ ros2 run autoware_imu_corrector gyro_bias_estimator_node --ros-args -r /gyro_bias_validator/input/imu_raw:=/sensing/imu/tamagawa/imu_raw -r /gyro_bias_validator/input/odom:=/localization/kinematic_state --params-file sensing/autoware_imu_corrector/config/gyro_bias_estimator.param.yaml --params-file sensing/autoware_imu_corrector/config/imu_corrector.param.yaml  -p  timer_callback_interval_sec:=0.5 -p diagnostics_updater_interval_sec:=2.0

# terminal 2
~/autoware$ ros2 run tf2_ros static_transform_publisher --x 0 --y 0 --z 0 --qx 0 --qy 0 --qz 0 --qw 1 --frame-id base_link --child-frame-id top_front_left/imu_link

# terminal 3
~/autoware$ ros2 bag play ~/tmp/1a96ba52-5739-4d03-9bcf-4c4ee00e138f/cfa23601-97c4-4d47-a37e-edfc7e080d8c_2024-12-20-15-44-56_p0900_38.db3 --topics /sensing/imu/tamagawa/imu_raw /localization/kinematic_state /tf

before change

~$ ros2 topic hz /diagnostics
average rate: 0.500
	min: 2.000s max: 2.000s std dev: 0.00003s window: 2
average rate: 0.615
	min: 0.500s max: 2.000s std dev: 0.64964s window: 4
average rate: 0.588
	min: 0.500s max: 2.000s std dev: 0.60012s window: 5
average rate: 0.571
	min: 0.500s max: 2.000s std dev: 0.55913s window: 6

after change

~$ ros2 topic hz /diagnostics
average rate: 0.500
	min: 2.000s max: 2.000s std dev: 0.00001s window: 2
average rate: 0.500
	min: 2.000s max: 2.000s std dev: 0.00007s window: 3
average rate: 0.500
	min: 2.000s max: 2.000s std dev: 0.00007s window: 4
average rate: 0.500
	min: 2.000s max: 2.000s std dev: 0.00008s window: 5
average rate: 0.500
	min: 2.000s max: 2.000s std dev: 0.00008s window: 6

~$ ros2 topic echo /diagnostics
header:
  stamp:
    sec: 1737080573
    nanosec: 532117472
  frame_id: ''
status:
- level: "\x01"
  name: 'gyro_bias_validator: gyro_bias_validator'
  message: Gyro bias may be incorrect. Please calibrate IMU and reflect the result in imu_corrector. You may also use the output of gyro_bi...
  hardware_id: gyro_bias_validator
  values:
  - key: gyro_bias_x_for_imu_corrector
    value: '-0.00391047'
  - key: gyro_bias_y_for_imu_corrector
    value: '-0.00466050'
  - key: gyro_bias_z_for_imu_corrector
    value: '0.00142520'
  - key: estimated_gyro_bias_x
    value: '-0.00391047'
  - key: estimated_gyro_bias_y
    value: '-0.00466050'
  - key: estimated_gyro_bias_z
    value: '0.00142520'
  - key: gyro_bias_threshold
    value: '0.00300000'
---

Notes for reviewers

The original implementation aimed to publish to /diagnostics immediately when the gyro bias was updated.
However, this behavior can be achieved by setting a shorter diagnostics_updater_interval_sec.

Interface changes

None.

Effects on system behavior

• publishing rate to /diagnostics from gyro_bias_estimator will now be fixed.
• creation of a timer callback by calling setPeriod() in the gyro_bias_estimator timer callback will be suppressed.

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.21%. Comparing base (415e1ec) to head (438b9de).
Report is 19 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9951      +/-   ##
==========================================
- Coverage   29.21%   29.21%   -0.01%     
==========================================
  Files        1425     1425              
  Lines      107740   107739       -1     
  Branches    42197    42193       -4     
==========================================
- Hits        31479    31474       -5     
- Misses      73215    73219       +4     
  Partials     3046     3046              

Flag	Coverage Δ		*Carryforward flag
differential	2.75% <ø> (?)
differential-cuda	2.75% <ø> (?)
total	29.21% <ø> (-0.01%)	⬇️	Carriedforward from 415e1ec

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[TaikiYamada4]

Checked that /diagnostics seems to output certain values with certain frequency as set in the gyro_bias_estimator.param.yaml. The values I tried are

timer_period	diagnostics_period
0.5 (default)	0.5 (default)
0.1	0.3
0.3	0.1

Looks good to me 👍