fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion

[scepter914]

Description

This PR add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion and refactor according to it.

• Add object_merger of far_objects in launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml

Until the tracking merger can operate stably, this PR temporarily added near_object and far_object mergers to the detection side and connected the far detection pipeline to tracking.
near_object come from existing Camera-LiDAR-Radar fusion and far_object come from radar detection.

• Add radar lanelets filter parameter to detection launch

I added radar lanelets filter parameter to detection launch to use config parameter from autoware.launch

• Refactor parameter name and comment

To make it easier to understand parameters, I renamed parameter names and comment.

Related links

• fix(autoware_launch): add radar lanelet filter parameter autoware_launch#566

Tests performed

Tests by rosbag.

Red objects are detection/radar/far_object.
Other objects are tracking/objects.
Grid size is 10m.
I could confirm that the long-distance detection was working properly with tracking.

Notes for reviewers

Interface changes

None

Effects on system behavior

As adding faraway detection, dynamic objects at a distance become visible, so it effects to planning behavior.

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[yukkysaito]

LGTM

[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (ea9d4b0) 15.74% compared to head (b24fb3b) 15.75%.
Report is 8 commits behind head on main.

❗ Current head b24fb3b differs from pull request most recent head 635f656. Consider uploading reports for the commit 635f656 to get more accurate results

Additional details and impacted files

@@           Coverage Diff            @@
##             main    #4995    +/-   ##
========================================
  Coverage   15.74%   15.75%            
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  Files        1587     1587            
  Lines      109831   109654   -177     
  Branches    33719    33636    -83     
========================================
- Hits        17292    17274    -18     
+ Misses      73908    73785   -123     
+ Partials    18631    18595    -36     

Flag	Coverage Δ		*Carryforward flag
differential	∅ <ø> (?)
total	15.75% <ø> (+<0.01%)	⬆️	Carriedforward from fffd994

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

Files Changed	Coverage Δ
..._safety_checker/path_safety_checker_parameters.hpp	50.00% <ø> (+16.66%)	⬆️
.../scene_module/goal_planner/goal_planner_module.cpp	8.48% <ø> (-0.02%)	⬇️
..._planner/src/scene_module/goal_planner/manager.cpp	5.48% <ø> (-0.08%)	⬇️
...planner/src/scene_module/start_planner/manager.cpp	4.60% <ø> (-0.26%)	⬇️
...cene_module/start_planner/start_planner_module.cpp	29.96% <ø> (+0.10%)	⬆️
...rc/utils/path_safety_checker/objects_filtering.cpp	22.75% <ø> (-0.90%)	⬇️
...nner/src/utils/start_goal_planner_common/utils.cpp	52.30% <ø> (-0.73%)	⬇️

... and 19 files with indirect coverage changes

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[miursh]

LGTM

[scepter914]

When merge from main branch, conflicts has occurred because new PR is merged to main branch.
So I fixed it, but I could not fix DCO problem.
I'm sorry that I will make PR again.