feat: acceleration and transport layer

[knzo25]

Description

This PR is part of a series of PRs that aim to accelerate the Sensing/Perception pipeline through an appropriate use of CUDA.

List of PRs:

• feat(autoware_cuda_pointcloud_preprocessor): a cuda-accelerated pointcloud preprocessor autowarefoundation/autoware.universe#9454 (pointcloud preprocessing)
• feat(autoware_pointcloud_preprocessor): cuda-accelerated pointcloud concatenation autowarefoundation/autoware.universe#9455 (concatenation)
• feat(autoware_lidar_centerpoint): added the cuda_blackboard to centerpoint autowarefoundation/autoware.universe#9453 (centerpoint)
• transfusion (TODO)
• OGM (TODO)
• feat: acceleration and transport layer #348 (aip_launcher)
• feat: acceleration and transport layer autowarefoundation/sample_sensor_kit_launch#111 (sample_sensor_kit_launch)

To use these branches, the following additions to the autoware.repos are necessary:

  vendor/cuda_blackboard:
    type: git
    url: [email protected]:knzo25/cuda_blackboard.git
    version: main
  vendor/negotiated:
    type: git
    url: https://github.com/osrf/negotiated.git
    version: master

Depending on your machine and how many nodes are in a container, the following branch may also be required:
https://github.com/knzo25/launch_ros/tree/fix/load_composable_node
There seems to be a but in ROS where if you send too many services at once some will be lost and ros_launch can not handle that.

Related links

Parent Issue:

• Link

How was this PR tested?

The sensing/perception pipeline was tested until centerpoint for TIER IV's taxi using the logging simulator.

Notes for reviewers

The main branch that I used for development is feat/cuda_acceleration_and_transport_layer.
However, the changes were too big so I split the PRs. That being said, development, if any will still be on that branch (and then cherrypicked to the respective PRs), and the review changes will be cherrypicked into the development branch.

Interface changes

An additional topic is added to perform type negotiation:
Example: input/pointcloud -> input/pointcloud and input/pointcloud/cuda

Effects on system behavior

Enabling this preprocessing in the launchers should provide a much reduced latency and cpu usage (at the cost of a higher GPU usage)

[knzo25]

Note: this PR will be kept as a draft until #337 it merged, at which point this PR will be reabsed