feat(trajectory_follower): use kinematic topic for ego pose

[TakaHoribe]

Description

For ego pose, replace TF with kinematic_state topic. As background, discussions on the localization interface resulted in the decision to use a topic instead of TF for ego pose information.

Related links

https://github.com/orgs/autowarefoundation/discussions/2594

Tests performed

Run in a planning simulator and checked if the controller tracked the trajectory.

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Merging #1791 (a639e4b) into main (0b6b0a8) will increase coverage by 0.34%.
The diff coverage is 53.84%.

@@            Coverage Diff             @@
##             main    #1791      +/-   ##
==========================================
+ Coverage   10.40%   10.75%   +0.34%     
==========================================
  Files        1218     1218              
  Lines       87476    87858     +382     
  Branches    20479    20767     +288     
==========================================
+ Hits         9106     9449     +343     
+ Misses      68894    68859      -35     
- Partials     9476     9550      +74     

Flag	Coverage Δ		*Carryforward flag
differential	42.56% <60.00%> (?)
total	10.40% <41.17%> (+<0.01%)	⬆️	Carriedforward from a0fda5b

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

Impacted Files	Coverage Δ
...ctory_follower/include/trajectory_follower/mpc.hpp	55.55% <ø> (+8.88%)	⬆️
control/trajectory_follower/src/mpc.cpp	55.97% <0.00%> (+7.95%)	⬆️
control/trajectory_follower/test/test_mpc.cpp	62.53% <25.00%> (+6.85%)	⬆️
...trajectory_follower/src/mpc_lateral_controller.cpp	40.96% <55.55%> (+6.31%)	⬆️
...ctory_follower/src/pid_longitudinal_controller.cpp	47.20% <72.72%> (+8.70%)	⬆️
planning/obstacle_stop_planner/src/node.cpp	0.00% <0.00%> (ø)
planning/rtc_interface/src/rtc_interface.cpp	0.00% <0.00%> (ø)
localization/ekf_localizer/src/ekf_localizer.cpp	0.00% <0.00%> (ø)
...nner/src/scene_module/pull_out/pull_out_module.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
... and 10 more

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

[takayuki5168]

LGTM