feat(pointcloud_preprocessor): add accumulation time debug information for pointcloud pipeline

[brkay54]

Description

https://github.com/autowarefoundation/autoware.universe/issues/6032

As mentioned in the issue, we are mostly using the ros2 topic delay /topic_name which shows us the time between the message header and the current time. This method is suitable for small-size messages, however, it adds extra delay because accessing the point cloud messages from outside decreases the performance of the pipeline because of the large size of the point cloud message.

Comparision of ros2 topic delay and accumulated_time

Left to right: Cropbox Filter Self -> Cropbox Filter Mirror -> Distortion Corrector -> Ring Outlier Filter

As you can see, the ros2 topic delay is adding some extra-delay to actual delay in every step. Also, although accumulated time is increasing in every step (as we expected), ros2 topic delay gives us not accurate and weird output.

The primary reason is that our sensing/perception nodes run within composable node containers and utilize intra-process communication. External subscriptions to these messages, like using ros2 topic delay or rviz2, add additional delays. Even slow down existing pipelines just by subscribing from outside.

Because of these reasons, it is better to publish the delay time which is reported by the node to not damage the intra-process communication of the point cloud pipeline.

To achieve this, we added accumulation_time information to each stage of the pipeline to measure how much time takes in the processes for each lidar.

The user can see the accumulated_time measurement for the lidar sensor output which is named "LidarX" by subscribing following topics:

/sensing/lidar/LidarX/crop_box_filter_self/debug/accumulated_time_ms 
/sensing/lidar/LidarX/crop_box_filter_mirror/debug/accumulated_time_ms
/sensing/lidar/LidarX/distortion_corrector/debug/accumulated_time_ms 
/sensing/lidar/LidarX/ring_outlier_filter/debug/accumulated_time_ms 
/sensing/lidar/concatenate_data_synchronizer/debug/accumulated_time_ms/sensing/lidar/LidarX/pointcloud

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

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[codecov[bot]]

Codecov Report

Attention: 18 lines in your changes are missing coverage. Please review.

Comparison is base (132d7d8) 14.39% compared to head (cbf3c5e) 14.46%. Report is 19 commits behind head on main.

Files	Patch %	Lines
...atenate_data/concatenate_and_time_sync_nodelet.cpp	0.00%	7 Missing :warning:
...or/src/crop_box_filter/crop_box_filter_nodelet.cpp	0.00%	4 Missing :warning:
.../src/distortion_corrector/distortion_corrector.cpp	0.00%	4 Missing :warning:
...src/outlier_filter/ring_outlier_filter_nodelet.cpp	0.00%	3 Missing :warning:

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6056      +/-   ##
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+ Coverage   14.39%   14.46%   +0.06%     
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  Files        1906     1906              
  Lines      129860   130105     +245     
  Branches    37582    37766     +184     
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+ Hits        18699    18817     +118     
- Misses      90167    90234      +67     
- Partials    20994    21054      +60     

Flag	Coverage Δ		*Carryforward flag
differential	7.01% <0.00%> (?)
total	14.39% <ø> (+<0.01%)	:arrow_up:	Carriedforward from 132d7d8

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[kminoda]

FYI: I've created a related PR for perception module https://github.com/autowarefoundation/autoware.universe/pull/6181