chore(ekf_localizer): increase z_filter_proc_dev for large gradient road

[KYabuuchi]

Description

I think the current z_filter_proc_dev is too small, so I propose increasing it.

Recently, I encountered an issue where localization failed in tunnel with a gradient.
In areas with a steep gradient, even if NDT scan matching outputs a correct pose, the 1D filter in the EKF localizer suppresses the variation in the altitude position. And the suppression lead to the NDT's mis-matching.

In the tunnel data I tested, this change prevented localization failure, and I did not observe any performance degradation in other environments.

The gradient of the undersea tunnel I verified had a gradient of 60m down at 600m. 📉

Related links

• TIER IV internal link (localization failure in undersee tunnel)

• TIER IV internal link (Impact verification outside the tunnel)

How was this PR tested?

• I conducted an automatic driving experiment in the seaside area.
• I manually drove through the undersea tunnel to verify that localization and perception did not break down.

Notes for reviewers

autoware_launch PR: autowarefoundation/autoware_launch#1337

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[SakodaShintaro]

The performance tests have been started using these branches.
(TIER IV INTERNAL)

• Test1 Fail → Rebase & Retry Test1-2
• Test2 Fail → Rebase & Retry Test2-2

[SakodaShintaro]

I visualized the test results, which show a slight decrease in performance for only two data points. However, after looking into them, I found that the decline is unrelated to the changes in this PR, as the tests have some randomness.

LGTM

[KYabuuchi]

@SakodaShintaro Thank you for testing! 😄

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 51.07%. Comparing base (4cb18f5) to head (ea5996e).
Report is 54 commits behind head on main.

Additional details and impacted files

@@             Coverage Diff             @@
##             main     #211       +/-   ##
===========================================
- Coverage   78.75%   51.07%   -27.69%     
===========================================
  Files          11       35       +24     
  Lines         193     1627     +1434     
  Branches       73      609      +536     
===========================================
+ Hits          152      831      +679     
- Misses         11      648      +637     
- Partials       30      148      +118     

Flag	Coverage Δ
differential	51.07% <ø> (?)
total	?

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