feat(lidar_centerpoint, pointpainting): add diag publisher for max voxel size

[kminoda]

Description

Add diagnostics for pointpainting and centerpoint, in order to handle a case where number of voxels gets higher than the threshold.

TIER IV INTERNAL LINK

Related links

Parent Issue:

• Link

How was this PR tested?

Tested by running logging simulator

Centerpoint

PointPainting

Notes for reviewers

None.

Interface changes

Topic changes

Additions and removals

Change type	Topic Type	Topic Name	Message Type	Description
Added	Pub	/diagnostics	diagnostic_msgs/msg/DiagnosticArray	Topic description

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 0% with 28 lines in your changes missing coverage. Please review.

Project coverage is 29.60%. Comparing base (ab845fb) to head (86dece2).
Report is 11 commits behind head on main.

Files with missing lines	Patch %	Lines
...ion_based_fusion/src/pointpainting_fusion/node.cpp	0.00%	13 Missing ⚠️
perception/autoware_lidar_centerpoint/src/node.cpp	0.00%	13 Missing ⚠️
...autoware_lidar_centerpoint/lib/centerpoint_trt.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9720      +/-   ##
==========================================
+ Coverage   29.59%   29.60%   +0.01%     
==========================================
  Files        1451     1451              
  Lines      108919   108472     -447     
  Branches    42597    42539      -58     
==========================================
- Hits        32232    32111     -121     
+ Misses      73589    73203     -386     
- Partials     3098     3158      +60     

Flag	Coverage Δ		*Carryforward flag
differential	3.48% <ø> (?)
differential-cuda	5.97% <0.00%> (?)
total	29.61% <ø> (+0.02%)	⬆️	Carriedforward from 082a53f

*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.

[badai-nguyen]

Confirmed lidar_centerpoint output /diagnostics topic as desired

Tested on internal rosbag with default max_voxel_size: 40000

~/autoware$ ros2 topic echo /diagnostics
header:
  stamp:
    sec: 1706598335
    nanosec: 955758848
  frame_id: ''
status:
- level: "\0"
  name: 'lidar_centerpoint: centerpoint_trt'
  message: OK
  hardware_id: lidar_centerpoint
  values:
  - key: is_num_pillars_within_range
    value: 'True'
---

Tested with max_voxel_size: 400

~/autoware$ ros2 topic echo /diagnostics
header:
  stamp:
    sec: 1706598306
    nanosec: 555616000
  frame_id: ''
status:
- level: "\x01"
  name: 'lidar_centerpoint: centerpoint_trt'
  message: 'CenterPointTRT::detect: The actual number of pillars exceeds its maximum value, which may limit the detection performance.'
  hardware_id: lidar_centerpoint
  values:
  - key: is_num_pillars_within_range
    value: 'False'
---

LGTM

[knzo25]

Same tests as Dai-san, validated through the UI