feat: enable system_monitor

[iwatake2222]

Types of PR

• New Features
• Upgrade of existing features
• Bugfix

Description

• Why this PR is needed
  • It is useful if developers can see resource (CPU, memory, etc.) usage at each PR/release
• What this PR changes
  • This PR enables system_monitor module, which measures resource usage/erros, and add /diagnostics topic to rosbag

How to review this PR

I confirmed the followings

• system_monitor component is launched
• /diagnostics topic is recorded into rosbag

$ ros2 bag info Pn_UCv2.0_Motorcycle_Rotation_sp_issue60_case_d203d1ae-38f8-5ab9-a38d-98b9401a4a03.bag/

Files:             result_bag_0.db3
Bag size:          3.0 GiB
Storage id:        sqlite3
Duration:          55.616s
Start:             Sep 13 2022 13:53:41.995 (1663044821.995)
End:               Sep 13 2022 13:54:37.612 (1663044877.612)
Messages:          30636
Topic information: Topic: /driving_log_replayer_v2/marker/results | Type: visualization_msgs/msg/MarkerArray | Count: 163 | Serialization Format: cdr
                   Topic: /driving_log_replayer_v2/marker/ground_truth | Type: visualization_msgs/msg/MarkerArray | Count: 163 | Serialization Format: cdr
                   Topic: /perception/object_recognition/tracking/multi_object_tracker/debug/processing_latency_ms | Type: tier4_debug_msgs/msg/Float64Stamped | Count: 538 | Serialization Format: cdr
                   Topic: /perception/object_recognition/detection/object_lanelet_filter/debug/pipeline_latency_ms | Type: tier4_debug_msgs/msg/Float64Stamped | Count: 538 | Serialization Format: cdr
                   Topic: /sensing/camera/camera4/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 556 | Serialization Format: cdr
                   Topic: /perception/object_recognition/tracking/multi_object_tracker/debug/input_latency_ms | Type: tier4_debug_msgs/msg/Float64Stamped | Count: 538 | Serialization Format: cdr
                   Topic: /perception/object_recognition/objects | Type: autoware_perception_msgs/msg/PredictedObjects | Count: 545 | Serialization Format: cdr
                   Topic: /sensing/camera/camera5/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 555 | Serialization Format: cdr
                   Topic: /sensing/camera/traffic_light/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 556 | Serialization Format: cdr
                   Topic: /sensing/camera/camera1/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 556 | Serialization Format: cdr
                   Topic: /perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster/debug/pipeline_latency_ms | Type: tier4_debug_msgs/msg/Float64Stamped | Count: 538 | Serialization Format: cdr
                   Topic: /diagnostics | Type: diagnostic_msgs/msg/DiagnosticArray | Count: 10789 | Serialization Format: cdr
                   Topic: /sensing/camera/camera2/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 555 | Serialization Format: cdr
                   Topic: /perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms | Type: tier4_debug_msgs/msg/Float64Stamped | Count: 538 | Serialization Format: cdr
                   Topic: /sensing/camera/camera5/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 554 | Serialization Format: cdr
                   Topic: /sensing/camera/camera0/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 556 | Serialization Format: cdr
                   Topic: /sensing/camera/camera3/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 557 | Serialization Format: cdr
                   Topic: /sensing/camera/traffic_light/image_raw/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 555 | Serialization Format: cdr
                   Topic: /perception/object_recognition/detection/obstacle_pointcloud_based_validator/debug/pipeline_latency_ms | Type: tier4_debug_msgs/msg/Float64Stamped | Count: 540 | Serialization Format: cdr
                   Topic: /sensing/camera/camera2/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 556 | Serialization Format: cdr
                   Topic: /perception/object_recognition/tracking/multi_object_tracker/debug/objects_markers | Type: visualization_msgs/msg/MarkerArray | Count: 553 | Serialization Format: cdr
                   Topic: /sensing/lidar/concatenated/pointcloud | Type: sensor_msgs/msg/PointCloud2 | Count: 554 | Serialization Format: cdr
                   Topic: /sensing/camera/camera3/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 556 | Serialization Format: cdr
                   Topic: /perception/object_recognition/tracking/objects | Type: autoware_perception_msgs/msg/TrackedObjects | Count: 553 | Serialization Format: cdr
                   Topic: /tf | Type: tf2_msgs/msg/TFMessage | Count: 3608 | Serialization Format: cdr
                   Topic: /sensing/camera/camera0/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 555 | Serialization Format: cdr
                   Topic: /perception/object_recognition/detection/objects | Type: autoware_perception_msgs/msg/DetectedObjects | Count: 544 | Serialization Format: cdr
                   Topic: /sensing/camera/camera1/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 555 | Serialization Format: cdr
                   Topic: /sensing/camera/camera4/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 555 | Serialization Format: cdr
                   Topic: /perception/object_recognition/detection/centerpoint/lidar_centerpoint/debug/pipeline_latency_ms | Type: tier4_debug_msgs/msg/Float64Stamped | Count: 543 | Serialization Format: cdr
                   Topic: /perception/object_recognition/tracking/multi_object_tracker/debug/meas_to_tracked_object_ms | Type: tier4_debug_msgs/msg/Float64Stamped | Count: 538 | Serialization Format: cdr
                   Topic: /perception/object_recognition/tracking/multi_object_tracker/debug/cyclic_time_ms | Type: tier4_debug_msgs/msg/Float64Stamped | Count: 538 | Serialization Format: cdr
                   Topic: /perception/object_recognition/tracking/multi_object_tracker/debug/pipeline_latency_ms | Type: tier4_debug_msgs/msg/Float64Stamped | Count: 538 | Serialization Format: cdr

Others

The overhead caused by recording /diagnostics topic is extremely minimal. The followings are rosbag size for percepsion simulator

• rosbag size without this PR: 3,104,980 KByte
• rosbag size with this PR: 3,107,700 KByte

[hayato-m126]

LGTM