feat(concatenation): separate concatenate node from other preprocessing nodes' container

[kminoda]

Description

Separate concatenation node from Top LiDAR container in order to enhance the redundancy.

In addition, moving the concatenation node to /pointcloud_container resulted in duplicated declaration of glog_component (here and ground_segmentation.launch.py). Since pointcloud_container is a single process declared in autoware.launch.xml, I would like to modify the glog_component declaration as well.

• feat(pointcloud_container): remove glog declaration in autoware.universe autowarefoundation/autoware.universe#6081
• feat(pointcloud_container): add glog autowarefoundation/autoware_launch#791

Note that some other nodes such as lidar_centerpoint will be added in this /pointcloud_container later on.

Tests performed

I have tested the PR with JPN TAXI to see if the performance regression is negligible or not.
The results are written here: TIER IV INTERNAL LINK. We observed a slight delay in the deriving topics from concatenated/pointcloud, which is around ~10ms in average.

Possible effects

Increase in CPU usage is expected since it will increase the inter-process communication (mostly in a single computer). However, we estimate this risk small enough given the above delay estimation results.

Related links

TIER IV INTERNAL LINK FOR SLACK

PRs that needs to be merged with:

• feat(pointcloud_container): remove glog declaration in autoware.universe autowarefoundation/autoware.universe#6081
• feat(pointcloud_container): add glog autowarefoundation/autoware_launch#791

[miursh]

LGTM

$  ros2 component  list
/sensing/lidar/right/pointcloud_preprocessor/pointcloud_container
  1  /sensing/lidar/right/velodyne_driver_ros_wrapper_node
  2  /sensing/lidar/right/crop_box_filter_self
  3  /sensing/lidar/right/crop_box_filter_mirror
  4  /sensing/lidar/right/distortion_corrector_node
  5  /sensing/lidar/right/ring_outlier_filter
/sensing/lidar/rear/pointcloud_preprocessor/pointcloud_container
  1  /sensing/lidar/rear/velodyne_driver_ros_wrapper_node
  2  /sensing/lidar/rear/crop_box_filter_self
  3  /sensing/lidar/rear/crop_box_filter_mirror
  4  /sensing/lidar/rear/distortion_corrector_node
  5  /sensing/lidar/rear/ring_outlier_filter
/map/map_container
  1  /map/lanelet2_map_loader
  2  /map/lanelet2_map_visualization
  3  /map/pointcloud_map_loader
  4  /map/vector_map_tf_generator
/perception/object_recognition/detection/clustering/euclidean_cluster_container
  1  /perception/object_recognition/detection/clustering/low_height_crop_box_filter
  2  /perception/object_recognition/detection/clustering/euclidean_cluster
/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container
  1  /sensing/lidar/top/velodyne_driver_ros_wrapper_node
  2  /sensing/lidar/top/crop_box_filter_self
  3  /sensing/lidar/top/crop_box_filter_mirror
  4  /sensing/lidar/top/distortion_corrector_node
  5  /sensing/lidar/top/ring_outlier_filter
/sensing/lidar/left/pointcloud_preprocessor/pointcloud_container
  1  /sensing/lidar/left/velodyne_driver_ros_wrapper_node
  2  /sensing/lidar/left/crop_box_filter_self
  3  /sensing/lidar/left/crop_box_filter_mirror
  4  /sensing/lidar/left/distortion_corrector_node
  5  /sensing/lidar/left/ring_outlier_filter
/pointcloud_container
  1  /perception/occupancy_grid_map/occupancy_grid_map_node
  2  /glog_component
  3  /perception/object_recognition/detection/voxel_grid_downsample_filter
  4  /sensing/lidar/concatenate_data
  5  /perception/obstacle_segmentation/crop_box_filter
  6  /perception/object_recognition/detection/voxel_based_compare_map_filter
  7  /perception/obstacle_segmentation/common_ground_filter
  8  /perception/obstacle_segmentation/occupancy_grid_map_outlier_filter