feat(multi_object_tracker): add diagnostics warning when extrapolation time exceeds limit with latency guarantee enabled

[ogrex]

Description

Related links

Parent Issue:

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How was this PR tested?

Tested by running logging simulator

OK:

Warnings:

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 20 lines in your changes missing coverage. Please review.

Project coverage is 26.01%. Comparing base (e69b61d) to head (c729ab9).
Report is 46 commits behind head on main.

Files with missing lines	Patch %	Lines
...i_object_tracker/src/multi_object_tracker_node.cpp	0.00%	20 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10301      +/-   ##
==========================================
- Coverage   26.04%   26.01%   -0.03%     
==========================================
  Files        1375     1375              
  Lines      106439   106559     +120     
  Branches    40902    40950      +48     
==========================================
  Hits        27726    27726              
- Misses      76009    76129     +120     
  Partials     2704     2704              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
differential-cuda	0.00% <0.00%> (?)
total	26.04% <ø> (∅)		Carriedforward from e69b61d

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[technolojin]

elapsed_time is time interval of each publish.

In the title, extrapolation is the target of diagnostics, but the implementation is not.

To know how long the tracker is extrapolated,

autoware_universe/perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp

Line 282 in b13520d

if (!motion_model_.getPredictedState(time, pose, pose_cov, twist, twist_cov)) {

motion_model_.getPredictedState(time, pose, pose_cov, twist, twist_cov)

need to know how the given time is away from the tracker time.

All of the tracker may have different last_update_with_measurement_time_, therefore the extrapolation length is also different.
As a total diagnostics, we may want to know if the shortest extrapolation is too long or not.

I would like to request change of the diagnostics logic.