feat(autoware_topic_relay_controller): add topic relay controller node

[TetsuKawa]

Description

This PR adds topic relay controller node which subscribes to a specified topic, remaps it, and republishes it. Additionally, it has the capability to continue publishing the last received value if the subscription stops.
The motivation for developing this node was to control the release of topics from the Main ECU to the Sub ECUs in a redundant system of Main ECUs and Sub ECUs.

Related links

This node requires the following msg.

• feat(tier4_system_msgs): add change topic relay control service tier4/tier4_autoware_msgs#164

How was this PR tested?

1. build autoware
2. cp and rebuild https://github.com/TetsuKawa/tier4_autoware_msgs/tree/feat/add-change-topic-relay-control-service and this branch.
3. launch set

/**:
ros__parameters:
topic: "/default"
topic_type: "std_msgs/msg/String" # neccessary for /tf or /tf_static
remap_topic: "/remap_default"
#frame_id: neccessary for /tf or /tf_static
#child_frame_id: neccessary for /tf or /tf_static
qos_depth: 1
transient_local: false
best_effort: false
enable_relay_control: true
srv_name: "/system/topic_relay_controller_defalt/operate" # neccessary for enable_relay_control is true
enable_keep_publishing: false
#update_rate: #neccessary for enable_keep_publishing is true

ros2 launch autoware_topic_relay_controller topic_relay_controller.launch.xml
ros2 topic pub /default std_msgs/msg/String "{}"
ros2 topic echo /remap_default
$ ros2 service call /system/topic_relay_controller_default/operate tier4_system_msgs/srv/ChangeTopicRelayControl "{relay_on: false}"

Screencast.from.2025.01.22.21.53.33.webm

/**:
ros__parameters:
topic: "/default"
topic_type: "std_msgs/msg/String" # neccessary for /tf or /tf_static
remap_topic: "/remap_default"
#frame_id: neccessary for /tf or /tf_static
#child_frame_id: neccessary for /tf or /tf_static
qos_depth: 1
transient_local: false
best_effort: false
enable_relay_control: true
srv_name: "/system/topic_relay_controller_default/operate" # neccessary for enable_relay_control is true
enable_keep_publishing: true
update_rate: 1 #neccessary for enable_keep_publishing is true

Screencast.from.2025.01.22.21.56.53.webm

/**:
ros__parameters:
topic: "/tf"
#topic_type: "std_msgs/msg/String" neccessary for /tf or /tf_static
remap_topic: "/remap_tf"
frame_id: "parent" #neccessary for /tf or /tf_static
child_frame_id: "child" #neccessary for /tf or /tf_static
qos_depth: 1
transient_local: false
best_effort: false
enable_relay_control: true
srv_name: "/system/topic_relay_controller_default/operate" # neccessary for enable_relay_control is true
enable_keep_publishing: true
update_rate: 1 #neccessary for enable_keep_publishing is true

Screencast.from.2025.01.22.22.03.24.webm

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 61 lines in your changes missing coverage. Please review.

Project coverage is 29.11%. Comparing base (67ab350) to head (9430a16).
Report is 58 commits behind head on main.

Files with missing lines	Patch %	Lines
...lay_controller/src/topic_relay_controller_node.cpp	0.00%	61 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9964      +/-   ##
==========================================
- Coverage   29.13%   29.11%   -0.02%     
==========================================
  Files        1425     1426       +1     
  Lines      107853   107920      +67     
  Branches    42251    42271      +20     
==========================================
  Hits        31419    31419              
- Misses      73391    73458      +67     
  Partials     3043     3043              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	29.13% <ø> (ø)		Carriedforward from e3f5d05

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[TetsuKawa]

f8a6bb5
add config and delete unnecessary launch arg tag.
TIER IV INTERNAL

[mkuri]

LGTM