feat(perception): add lidar_detection_model option

[kosuke55]

Description

add lidar_detection_model option

Tests performed

ros2 launch autoware_launch logging_simulator.launch.xml map_path:=/home/kosuke55/data/map/bs/ vehicle_model:=lexus sensor_model:=aip_xx1 rviz:=true perception:=true

change to apollo

<arg name="lidar_detection_model" default="apollo" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>

check apollo works instead of centerpoint

~/auto-evaluator.murooka (main %=)
$ ros2 topic list |rg apollo
/perception/object_recognition/detection/apollo/objects
/perception/object_recognition/detection/apollo/objects_with_feature
/perception/object_recognition/detection/apollo/validation/objects
~/auto-evaluator.murooka (main %=)
$ ros2 topic list |rg center
/sensing/radar/front_center/detected_objects
/sensing/radar/front_center/filtered_objects
/sensing/radar/front_center/from_can_bus
/sensing/radar/front_center/noise_objects
/sensing/radar/front_center/objects_raw
/sensing/radar/front_center/scan_raw
/sensing/radar/front_center/tracked_objects

---

<arg name="centerpoint_model_name" default="centerpoint" description="options: `centerpoint` or `centerpoint_tiny`"/>

[component_container_mt-1] [I] [TRT] Input filename:   /home/kosuke55/autoware_data/lidar_centerpoint/pts_voxel_encoder_centerpoint.onnx

<arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>

[component_container_mt-1] [I] [TRT] Input filename:   /home/kosuke55/autoware_data/lidar_centerpoint/pts_voxel_encoder_centerpoint_tiny.onnx

Effects on system behavior

Not applicable.

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.

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.

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

[kosuke55]

@miursh want to keep these parameters only in autoware.universe
https://star4.slack.com/archives/C03S84LDJGG/p1707998958152429?thread_ts=1707985773.124859&cid=C03S84LDJGG