feat(route_selector): add processing time publisher

[Kazunori-Nakajima]

Description

The processing time of route_selector was measured and made to Pub. Since A is not a module that is processed cyclically, Pub was added to the following four functions that may become heavy processing.

• on_set_waypoint_route_main
• on_set_lanelet_route_main
• on_set_waypoint_route_mrm
• on_set_lanelet_route_mrm

(TIER IV internal usecase) This output is then read by the Basic scenario and tested daily for cycle failures.

Related links

How was this PR tested?

1. Place Ego and goal_pose in psim and generate route
2. ros2 topic echo /planning/mission_planning/route autoware_planning_msgs/msg/LaneletRoute > routefile
3. Delete start_pose and --- on the last line of the routefile
4. ros2 service call /planning/mission_planning/route_selector/mrm/set_lanelet_route tier4_planning_msgs/srv/SetLaneletRoute "$(cat routefile)"

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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Codecov Report

Attention: Patch coverage is 0% with 16 lines in your changes missing coverage. Please review.

Project coverage is 29.19%. Comparing base (8652963) to head (32745b0). Report is 119 commits behind head on main.

Files with missing lines	Patch %	Lines
...ion_planner/src/mission_planner/route_selector.cpp	0.00%	16 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #9343 +/- ## ========================================== - Coverage 29.21% 29.19% -0.03% ========================================== Files 1335 1342 +7 Lines 102960 103042 +82 Branches 39950 39953 +3 ========================================== Hits 30080 30080 - Misses 70010 70092 +82 Partials 2870 2870 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9343/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | Coverage Δ | | *Carryforward flag | |---|---|---|---| | [differential](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9343/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `10.01% <0.00%> (?)` | | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9343/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `29.21% <ø> (ø)` | | Carriedforward from [8652963](https://app.codecov.io/gh/autowarefoundation/autoware.universe/commit/865296357907c426a441ca73aab22362af34e5ae?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | *This pull request uses carry forward flags. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) to find out more.

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[Kazunori-Nakajima]

I want to disclose the time to handle exceptions. Therefore, we have updated the handle_exception in service_utils. This PR is closed because service_utils is located in mission_planner and the same content as this PR is included in the following PR.

• https://github.com/autowarefoundation/autoware.universe/pull/9342

[Kazunori-Nakajima]

After consulting with @kosuke55 , it was decided not to output processing time in the event of an error. Therefore, we will reopen this PR.