fix: add check for external_emergency_stop_heartbeat_received_time to isDataReady

[s-azumi]

Description

The vehicle_cmd_gate node periodically checks two heartbeat topics: system emergency heartbeat and external emergency stop heartbeat.
However, in the initialization function (isDataReady) only checks for system emergency heartbeat.
So I`ll add a check for the external emergency stop heartbeat to the initialization function.

TierIV Internal Link
https://tier4.atlassian.net/browse/T4PB-21179

Tests performed

1. Make sure the use_external_emergency_stop argument in control.launch.py is true.
2. Launch planning_simulator, set Ego and Goal position.
3. You can see the message external_emergency_stop_heartbeat_received_time_ is false in the terminal.
   1. If use_external_emergency_stop is false, then you can engage the vehicle on simulaotr.
4. Publish /external/selected/heartbeat topic(e.g. by rqt Message Publisher), then you can engage the vehicle.

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[codecov]

Codecov Report

Base: 11.09% // Head: 11.08% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (968ef51) compared to base (a40d23e).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2155      +/-   ##
==========================================
- Coverage   11.09%   11.08%   -0.02%     
==========================================
  Files        1213     1213              
  Lines       86618    86732     +114     
  Branches    20787    20858      +71     
==========================================
+ Hits         9612     9613       +1     
- Misses      66847    66958     +111     
- Partials    10159    10161       +2     

Flag	Coverage Δ		*Carryforward flag
differential	18.60% <0.00%> (?)
total	11.07% <0.00%> (ø)		Carriedforward from a40d23e

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

Impacted Files	Coverage Δ
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	0.44% <0.00%> (+0.14%)	⬆️
..._smoother/src/smoother/l2_pseudo_jerk_smoother.cpp	0.00% <0.00%> (ø)

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[h-ohta]

@s-azumi Could you tell me how you confirmed this pr?

[s-azumi]

@h-ohta
I added the confirmation method, please check it.

@TakaHoribe
Merging this PR will prevent vehicles from starting in planning_simulator because use_external_emergency_stop is true by default.
If this argument setting is correct, I think the planning_simulator.launch needs to be changed.

[h-ohta]

@s-azumi I'll wait PR for launch.

[s-azumi]

@h-ohta @TakaHoribe
I updated README about use_external_emergency_stop parameter.

PRs for launch are here, please review with this.

• feat: set use_external_emergency_stop to false by default when launching psim autoware_launch#109
• chore: sync awf-latest tier4/autoware_launch#540.

[h-ohta]

LGTM
@TakaHoribe Could you confirm README changes ?