feat(mrm_handler): mrm handler publish emergecy holding

[TetsuKawa]

Description

Originally, the emergency_holding function that the system_error_monitor had was moved to the mrm_handler. However, the mrm_handler does not publish the emergency_holding state, so the emergency_holding in the hazard_status published by the hazard_status_converter is not updated.

This PR add emergency holding publisher which is publish a value of is_emergency_holding_ .

Related links

Parent Issue:

• CompanyName internal link

Related PR

• feat(hazard_status_converter): hazard status converter subscribe emergency holding #9287
• feat(tier4_system_msgs): add emergency holding msg tier4/tier4_autoware_msgs#153

How was this PR tested?

test/update-emergency-holding-state is include This PR, #9287 and tier4/tier4_autoware_msgs#153.

Screencast.from.2024.11.11.14.34.38.webm

Confirmed that /system/emergency_hoding is published and update emergency_hoding in /system/emergency/hazard_status.

Notes for reviewers

None.

Interface changes

Topic changes

Additions and removals

Change type	Topic Type	Topic Name	Message Type	Description
Added	Pub	/system/emergency_holding	tier4_system_msgs/msg/EmergencyHoldingState	indicates whether mrm is in the emergency_holding state

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 8 lines in your changes missing coverage. Please review.

Project coverage is 29.16%. Comparing base (663fe98) to head (af53257).
Report is 61 commits behind head on main.

Files with missing lines	Patch %	Lines
...m/mrm_handler/src/mrm_handler/mrm_handler_core.cpp	0.00%	8 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9285      +/-   ##
==========================================
- Coverage   29.17%   29.16%   -0.02%     
==========================================
  Files        1336     1336              
  Lines      103038   103028      -10     
  Branches    39954    39945       -9     
==========================================
- Hits        30059    30045      -14     
- Misses      70031    70037       +6     
+ Partials     2948     2946       -2     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	29.16% <ø> (-0.01%)	⬇️	Carriedforward from 663fe98

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