what is type of ICMP packets? TCP or UDP

Is there any relation between ICMP with TCP

Not directly. ICMP is IP protocol 1, TCP is IP protocol 6. Other common IP protocols are 17 (udp) and 47 (gre).

In other can we guaranty their arrival in the network

Typically ICMP is not sent within any type of framework that uses acknowledgements and timeouts like TCP does. So the answer here is no.

I want to know ICMP packets in the network is tcp or udp or which one or non of them?

None of them. It behaves mostly like udp but it's not designed to transport data. There is no "link" or session created with ICMP, it's typically a very simple request-response, if that. You could "hack" ICMP to trade data over echo ICMP packets if you really wanted to.

None of them – they're sent directly over IP. ICMP packets are mainly used for network control, i. e. between routers or ping and many other uses.