feat(data_collecting_tool): improve data collection logic

[YoshihiroKogure]

Description

• The speed and acceleration data have been collected as evenly as possible on figure-eight course. ( Refer to the data on the heatmap and adjust the process to collect more data in areas where the data is lacking. Most of the data is collected on line parts of figure-eight course. )
• Change figure-eight course slightly so that line parts becomes as large as possible in the rectangle section
• Added the following two plots ( The right window in the image below )
  • Display the recent trajectory of velocity and acceleration ( The second one from the top )
  • data counts of velocity and steer on heatmap ( The fourth one from the top )
    ( The first one = velocity trajectory. The third one = data counts of velocity and acceleration on heatmap )

Related links

Tests performed

Notes for reviewers

Interface changes

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[kosuke55]

@YoshihiroKogure
thanks! works in my environment!

It is very heavy when plot

$ ros2 topic hz /data_collecting_trajectory
average rate: 2.257
        min: 0.219s max: 0.875s std dev: 0.30521s window: 3

please fix this issue in the future 🙏

[kosuke55]

LGTM.
If the topic hz has a problem, it can still run. if it is disabled, the topic will not drop.

$ ros2 topic hz /data_collecting_trajectory
average rate: 31.630
        min: 0.020s max: 0.067s std dev: 0.00967s window: 33

[kosuke55]

Suggested change

	self.previouse_target_vel = 2.0
	self.previous_target_vel = 2.0