fix(pointcloud_preprocessor): organize input twist topic

[kminoda]

Description

• Concatenate filter node now supports both twist and odom type input for velocity and angular velocity input.
• Concatenate filter node used in perception module now uses odometry input from localization.

Related to: #5108

Should be merged with

• fix(pointcloud_preprocessor): organize input twist topic sample_sensor_kit_launch#77
• fix(pointcloud_preprocessor): organize input twist topic tier4/awsim_sensor_kit_launch#8
• fix(pointcloud_preprocessor): organize input twist topic tier4/aip_launcher#176

Tests performed

Tested with pilot-auto.x2 (TIER IV internal product version Autoware) and confirmed that the change addresses the incorrect timestamp difference compensation using Logging Simulator.

Effects on system behavior

• The concatenate filter node in perception will now use twist input from localization, which should improve the concatenation accuracy.
• All the concatenation node will now require an additional parameter

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[kminoda]

@miursh @yukkysaito Would you review this PR? 🙏

[codecov]

Codecov Report

Attention: 25 lines in your changes are missing coverage. Please review.

Comparison is base (443386d) 14.91% compared to head (e7b33eb) 14.88%.
Report is 7 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5125      +/-   ##
==========================================
- Coverage   14.91%   14.88%   -0.04%     
==========================================
  Files        1625     1630       +5     
  Lines      112412   112656     +244     
  Branches    34699    34691       -8     
==========================================
  Hits        16764    16764              
- Misses      76910    77154     +244     
  Partials    18738    18738              

Flag	Coverage Δ		*Carryforward flag
differential	5.57% <0.00%> (?)
total	14.91% <ø> (+<0.01%)	⬆️	Carriedforward from 443386d

*This pull request uses carry forward flags. Click here to find out more.

Files	Coverage Δ
...r_path_planner/scene_module/lane_change/normal.hpp	0.00% <ø> (ø)
...nner/utils/lane_change/lane_change_module_data.hpp	0.00% <ø> (ø)
...h_planner/src/scene_module/lane_change/manager.cpp	5.20% <ø> (ø)
...th_planner/src/scene_module/lane_change/normal.cpp	3.83% <ø> (+0.07%)	⬆️
...atenate_data/concatenate_and_time_sync_nodelet.hpp	0.00% <ø> (ø)
...atenate_data/concatenate_and_time_sync_nodelet.cpp	0.00% <0.00%> (ø)

... and 5 files with indirect coverage changes

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[miursh]

@kminoda May I request two additional items?

1. Could you make the same change in time_synchronizer as well? This is because sync_and_concat node is going to be deprecated, and we are going to use sync node and concatenate node separately.
2. Could you add warning here when the twist queue is empty?

[kminoda]

@miursh
Thank you for the comment!

For the first point, fixed here: 44bf023
For the second point, let me handle that in another PR.

[miursh]

LGTM