feat: add autoware_node and autoware_test node

[xmfcx]

Description

• Split from feat: add autoware_control_center and autoware_node #84 to simplify the reviewing process.
• autoware_node inherits from the rclcpp::LifecycleNode and provides the base class for the remaining Autoware nodes.
• autoware_test_node is a reference implementation of an expected new autoware node, inheriting from the autoware_node.
  • And provides a launch file to run it.

Helpful links

ROS 2 design and demos

• https://design.ros2.org/articles/node_lifecycle.html
• https://github.com/ros2/demos/tree/humble/lifecycle
• https://github.com/ros2/demos/blob/humble/lifecycle/src/lifecycle_talker.cpp

From Nav 2

• https://docs.nav2.org/concepts/index.html#lifecycle-nodes-and-bond
• https://docs.nav2.org/configuration/packages/configuring-lifecycle.html#lifecycle-manager
• https://docs.nav2.org/tutorials/docs/adding_a_nav2_task_server.html#lifecycle-nodes

Example implementations:

• https://github.com/ros-navigation/navigation2/blob/main/nav2_util/include/nav2_util/lifecycle_node.hpp
• https://github.com/ros-navigation/navigation2/blob/main/nav2_util/src/lifecycle_node.cpp
• https://github.com/ros-navigation/navigation2/blob/main/nav2_map_server/src/map_saver/map_saver.cpp

How was this PR tested?

See the README.md of the autoware_test_node from this PR.

And autoware_node includes a init-shutdown colcon test, CI will test it.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[codecov]

Codecov Report

Attention: Patch coverage is 55.17241% with 13 lines in your changes missing coverage. Please review.

Project coverage is 73.25%. Comparing base (a61009d) to head (de30f05).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...ommon/autoware_node/test/test_an_init_shutdown.cpp	66.66%	1 Missing and 4 partials ⚠️
demos/autoware_test_node/src/test_node.cpp	0.00%	5 Missing ⚠️
common/autoware_node/src/node.cpp	75.00%	0 Missing and 2 partials ⚠️
...ommon/autoware_node/include/autoware/node/node.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #113      +/-   ##
==========================================
- Coverage   76.92%   73.25%   -3.67%     
==========================================
  Files           6       10       +4     
  Lines         143      172      +29     
  Branches       55       68      +13     
==========================================
+ Hits          110      126      +16     
- Misses         12       19       +7     
- Partials       21       27       +6     

Flag	Coverage Δ		*Carryforward flag
differential	55.17% <55.17%> (?)
total	76.92% <ø> (ø)		Carriedforward from ea6f047

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[xmfcx]

/home/runner/work/autoware.core/autoware.core/common/autoware_node/src/node.cpp:15:0: information: Include file: "autoware/node/node.hpp" not found. [missingInclude]
#include "autoware/node/node.hpp"
^
/home/runner/work/autoware.core/autoware.core/common/autoware_test_node/src/test_node.cpp:30:0: information: Include file: "rclcpp_components/register_node_macro.hpp" not found. [missingInclude]
#include "rclcpp_components/register_node_macro.hpp"
^

cppcheck-differential failed with the messages above.
I don't know why it cannot find those files, it works and files are present.

[xmfcx]

@youtalk @mitsudome-r ready for review ✅

[youtalk]

I think the autoware_test_node package is very helpful. But since it’s a demo package, it feels strange for it to be in the common directory. How about moving it to a directory with a name like demos?

[xmfcx]

I think the autoware_test_node package is very helpful. But since it’s a demo package, it feels strange for it to be in the common directory. How about moving it to a directory with a name like demos?

Moved it to demos folder ✅

[youtalk]

LGTM!

[xmfcx]

Thank you for the review!