feat(perception_online_evaluator): add metric_value not only stat

[kosuke55]

Description

Previously, only stat with max, mean, and min as keys could be handled in diagnostics, but this PR allows metric_value with a single value.
This is to allow only one value to be included in metrics such as object counts, since all stat values are the same, which is redundant.

• stat type

- level: "\0"
  name: predicted_path_deviation_variance_CAR_5.00
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '0.039821'
  - key: max
    value: '0.039821'
  - key: mean
    value: '0.039821'

• metric_value type

- level: "\0"
  name: interval_average_objects_count_UNKNOWN_r100.00_h10.00
  message: ''
  hardware_id: ''
  values:
  - key: metric_value
    value: '4.000000'

Tests performed

psim

Effects on system behavior

Not applicable.

Interface changes

no interface changes for autoware.

but the diagnostic key used for tools (driving_log_replayer etc) is chaged

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[hayato-m126]

LGTM

I checked the source code.
I also confirmed that the following two types of DianosticsStatus are produced by actually running the code.

• min, max, mean
• metric_value

❯ ros2 topic echo /diagnostic/perception_online_evaluator/metrics
1716517666.266979 [77]       ros2: determined eno1 (udp/10.0.55.137) as highest quality interface, selected for automatic interface.
header:
  stamp:
    sec: 1649138862
    nanosec: 528072108
  frame_id: ''
status:
- level: "\0"
  name: lateral_deviation_CAR
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '0.002937'
  - key: max
    value: '0.005215'
  - key: mean
    value: '0.004076'
- level: "\0"
  name: yaw_deviation_CAR
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '0.014042'
  - key: max
    value: '0.038703'
  - key: mean
    value: '0.026373'
- level: "\0"
  name: predicted_path_deviation_variance_CAR_5.00
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '3.730826'
  - key: max
    value: '6.671615'
  - key: mean
    value: '5.201220'
- level: "\0"
  name: predicted_path_deviation_variance_CAR_3.00
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '0.903402'
  - key: max
    value: '1.781432'
  - key: mean
    value: '1.342417'
- level: "\0"
  name: predicted_path_deviation_CAR_3.00
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '1.064637'
  - key: max
    value: '1.540737'
  - key: mean
    value: '1.302687'
- level: "\0"
  name: predicted_path_deviation_CAR_5.00
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '2.362636'
  - key: max
    value: '3.284624'
  - key: mean
    value: '2.823630'
- level: "\0"
  name: predicted_path_deviation_CAR_2.00
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '0.526803'
  - key: max
    value: '0.812374'
  - key: mean
    value: '0.669589'
- level: "\0"
  name: predicted_path_deviation_variance_CAR_2.00
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '0.172313'
  - key: max
    value: '0.507762'
  - key: mean
    value: '0.340038'
- level: "\0"
  name: predicted_path_deviation_variance_CAR_1.00
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '0.033420'
  - key: max
    value: '0.054184'
  - key: mean
    value: '0.043802'
- level: "\0"
  name: predicted_path_deviation_CAR_1.00
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '0.252737'
  - key: max
    value: '0.285710'
  - key: mean
    value: '0.269224'
- level: "\0"
  name: yaw_rate_UNKNOWN
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '0.000008'
  - key: max
    value: '0.000008'
  - key: mean
    value: '0.000008'
- level: "\0"
  name: yaw_rate_CAR
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '0.000485'
  - key: max
    value: '0.001173'
  - key: mean
    value: '0.000829'
- level: "\0"
  name: yaw_rate_BUS
  message: ''
  hardware_id: ''
  values:
  - key: min
    value: '0.000009'
  - key: max
    value: '0.000009'
  - key: mean
    value: '0.000009'
- level: "\0"
  name: total_objects_count_PEDESTRIAN_r150.00_h10.00
  message: ''
  hardware_id: ''
  values:
  - key: metric_value
    value: '0.000000'