chore(blockage_diag): add dust diagnostic option param

[badai-nguyen]

Description

• To change dust diagnostics and publish debug image as optional. There is no any change in blockage and dust detection result.
• Need merge together with param update for each product
  • chore(blockage_diag): add option param for xx1 tier4/aip_launcher#225
  • chore(blockage_diag): add option param for x2 tier4/aip_launcher#224

Related link

• TIER IV INTERNAL LINK

Tests performed

• Confirmed by logging_simulator that each blockage_diag node reflected the optional params correctly.

enable_dust_diag: false
publish_debug_image: false

enable_dust_diag: true
publish_debug_image: false

enable_dust_diag: false
publish_debug_image: true

Not applicable.

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 81 lines in your changes are missing coverage. Please review.

Project coverage is 14.78%. Comparing base (59f7031) to head (367c470).
Report is 88 commits behind head on main.

Files	Patch %	Lines
...cessor/src/blockage_diag/blockage_diag_nodelet.cpp	0.00%	81 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##             main    #6645    +/-   ##
========================================
  Coverage   14.78%   14.78%            
========================================
  Files        1917     1917            
  Lines      132038   132991   +953     
  Branches    39228    39433   +205     
========================================
+ Hits        19523    19669   +146     
- Misses      90726    91483   +757     
- Partials    21789    21839    +50     

Flag	Coverage Δ		*Carryforward flag
differential	5.45% <0.00%> (?)
total	14.79% <ø> (+<0.01%)	⬆️	Carriedforward from 59f7031

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[badai-nguyen]

@kyoichi-sugahara Could I ask your review for this PR and the releated ones?

[kyoichi-sugahara]

how about adding following callback?

  if (get_param(p, "publish_debug_image", publish_debug_image_)) {
    RCLCPP_DEBUG(get_logger(), "Setting new publish_debug_image_ to: %d.", publish_debug_image_);
  }
  if (get_param(p, "enable_dust_diag", enable_dust_diag_)) {
    RCLCPP_DEBUG(get_logger(), "Setting new enable_dust_diag_ to: %d.", enable_dust_diag_);
  }

[badai-nguyen]

@kyoichi-sugahara Thank you for your comment.
However, if we make publish_debug_image and enable_dust_diag to be able to change by callback, then

1. debug image topics and blockage_diag/debug/ground_dust_ratio topics will be created but nothing to be published
   

2. Even enable_dust_diag=False, there will be many dust related diag validation will be created in rqt_runtime_monitor
   
   That might make users confused.

[kyoichi-sugahara]

LGTM!