feat(tier4_localization_launch): create a launcher for a node_container of pointcloud preprocessing in the localization component

[TaikiYamada4]

Description

Due to the upcoming demands, Autoware should cover the use cases where the concatenated pointcloud will be applied as an input to the localization component. Since the architecture of the pointcloud container has changed, we can't have a straight node container from the preprocessor in the sensing component to that of the localization component when we want to use the concatenated pointcloud.

Therefore, the launch system in the localization component should have a feature to launch its own pointcloud preprocessing node container, and this PR is meant to do so.

Plus, we can launch the localization component cleanly if it can launch the pointcloud container by its own.

A simple flowchart of how the launching goes is described here.

The argument lidar_container_name is changed to target_pointcloud_container_name since it might not be a node container related to a specific LiDAR.

Related links

This PR should be merged with this PR in autoware_launch!!

Tests performed

I tested this launch system via the logging_simulator tutorial and get the following results when I ros2 component list

(Excerpted)
/localization/util/pointcloud_preprocessor/pointcloud_container
  1  /localization/util/crop_box_filter_measurement_range
  2  /localization/util/voxel_grid_downsample_filter
  3  /localization/util/random_downsample_filter

Notes for reviewers

This PR should be merged with this PR in autoware_launch!!

Interface changes

A new node_container named /localization/util/pointcloud_preprocessor/pointcloud_container will be launched, and /localization/util/crop_box_filter_measurement_range, /localization/util/voxel_grid_downsample_filter, and /localization/util/random_downsample_filter will be added to it.

Effects on system behavior

If the user didn't define target_pointcloud_container_name in the tier4_localization_component.launch.xml of autoware_launch, the pointcloud publication/subscription between sensing & localization components will be done outside the node container, which leads to an increase of latency. (about + 20ms in my PC).

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