Use /autoware/state to get autoware state

[HansRobo]

Description

Abstract

Changed back to using /autoware/state to get state of autoware(Includes support for the latest autoware_xx_msgs )

Background

Somehow autoware state API for has downgraded to old one in #1060.
Due to this change, the old spec, which mixed Autoware and Emergency states, are started to use, so emergency state which occurred immediately after engagement caused a time out.

Details

Regression risk analysis

Under autoware_auto_xx_msgs environment, we have used /autoware/state topic before #1060 and worked well.
and /autoware/state topic has maintained from after #1060 merged to today.
Starting from v0.29.0 in tier4/autoware.universe, /autoware/state uses autoware_system_msgs, which is being maintained and will continue to be supported in the future.

https://autowarefoundation.github.io/autoware.universe/main/system/autoware_default_adapi/document/autoware-state/

So, it is safe to use /autoware/state from the past to the future.

References

Regression test: OK (Note: X2 regression is expected)

Destructive Changes

None

Known Limitations

None

[github-actions]

Checklist for reviewers ☑️

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[sonarcloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarCloud