feat(pointcloud_preprocessor): make concatenate node to publish pointclouds in sensor frame

[YoshiRi]

Description

Related #5485, this PR enables to publish synchronized pointclouds in sensor_frame.

• changes
  • add rosparam to handle wheather synchronized pointcloud should be published in output frame or input(original) frame
  • add pointcloud transform process when need to publish in sensor frame
  • put latency measurement description to last part of the pointcloud callback

❯ ros2 topic echo /sensing/lidar/top/pointcloud --field header
1710144739.261797 [112]       ros2: determined wlp9s0 (udp/10.0.57.190) as highest quality interface, selected for automatic interface.
stamp:
  sec: 1585897258
  nanosec: 286857728
frame_id: velodyne_top

Related links

https://github.com/orgs/autowarefoundation/discussions/4158

Tests performed

Tested with Lsim.
Need to merge autowarefoundation/sample_sensor_kit_launch#84 if you want to test separated concatenate and time sync nodes.

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 30 lines in your changes are missing coverage. Please review.

Project coverage is 14.86%. Comparing base (7081a61) to head (a0fb9e0).
Report is 33 commits behind head on main.

Files	Patch %	Lines
...atenate_data/concatenate_and_time_sync_nodelet.cpp	0.00%	22 Missing ⚠️
...rc/time_synchronizer/time_synchronizer_nodelet.cpp	0.00%	8 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6586      +/-   ##
==========================================
+ Coverage   14.80%   14.86%   +0.06%     
==========================================
  Files        1917     1917              
  Lines      132086   132420     +334     
  Branches    39262    39407     +145     
==========================================
+ Hits        19553    19689     +136     
- Misses      90715    90884     +169     
- Partials    21818    21847      +29     

Flag	Coverage Δ		*Carryforward flag
differential	5.49% <0.00%> (?)
total	14.80% <ø> (+<0.01%)	⬆️	Carriedforward from 855d440

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[badai-nguyen]

Confirmed by logging_simulator that pointclouds topics are published in sensor frame

LGTM