feat(control_evaluator): add a trigger to choice whether to output metrics to log folder

[xtk8532704]

Description

1. Add a bool parameter output_metrics, if it's true, the control_evaluator node writes the statics of the metrics measured during its lifetime to <ros2_logging_directory>/autoware_metrics/<node_name>-<time_stamp>.json when shut down.
   This feature will be used to collect and analyze test results in real vehicle tests and evaluator tests.
2. Refactored control_evaluator's launch method to make it clearer: it now launches from autoware_control_evaluator/launch/control_evaluator.launch.xml, and can read param/control_evaluator.defaults.yaml correctly.

This feature will be used to collect and analyze test results in real vehicle tests and evaluator tests.

Related links

Parent Issue:

• Link

How was this PR tested?

Psim with output_metrics=true:

$ cat /home/temkeikem/.ros/log/autoware_metrics/autoware_control_evaluator-2024-11-27-00-28-32.json 
{
    "goal_lateral_deviation/count": 0,
    "goal_lateral_deviation/description": "Lateral deviation from the goal point[m]",
    "goal_lateral_deviation/max": -1.7976931348623157e+308,
    "goal_lateral_deviation/mean": 0.0,
    "goal_lateral_deviation/min": 1.7976931348623157e+308,
    # ignore many outputs.
    "yaw_deviation/count": 227,
    "yaw_deviation/description": "Yaw deviation from the reference trajectory[rad]",
    "yaw_deviation/max": 0.06566750430257973,
    "yaw_deviation/mean": 0.031098377450999377,
    "yaw_deviation/min": 4.124327548060691e-05
}

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 68.62745% with 32 lines in your changes missing coverage. Please review.

Project coverage is 29.44%. Comparing base (e5ad03a) to head (542230a).
Report is 8 commits behind head on main.

Files with missing lines	Patch %	Lines
...e_control_evaluator/src/control_evaluator_node.cpp	31.91%	30 Missing and 2 partials ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #9478   +/-   ##
=======================================
  Coverage   29.44%   29.44%           
=======================================
  Files        1442     1445    +3     
  Lines      108558   108590   +32     
  Branches    41532    41545   +13     
=======================================
+ Hits        31967    31979   +12     
- Misses      73479    73497   +18     
- Partials     3112     3114    +2     

Flag	Coverage Δ		*Carryforward flag
differential	31.78% <68.62%> (?)
total	29.41% <ø> (-0.04%)	⬇️	Carriedforward from e5ad03a

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