feat(ekf_localizer): check whether the initialpose has been set

[YamatoAndo]

Description

Since there are cases where the ekf_localizer does not function properly without the initialpose being set, I’ve added a check to ensure whether initialpose is configured.

If it is not set:

• The estimation process will not execute, and no estimation results will be output.

• /diagnostics will transition to the WARN state.

Additionally, if the ekf_localizer transitions to an inactive state (e.g., due to re-running the pose_initializer), the initialpose must be set again.

Related links

Parent Issue:

• Link

How was this PR tested?

• I tested with logging_simulator same as before.
• I changed the topic name for the input initialpose of ekf_localizer (/initialpose3d) to create a situation where the initialpose is not set, and confirmed that the behavior matches the description above.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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