feat(probabilistic_occupancy_grid_map): add synchronized ogm fusion node

[YoshiRi]

Description

This PR aiming to rearrange #3107.
It enables to run occupancy grid map with multi lidar frame.

Related links

Related PR needed for test

• autoware universe
  • feat(pointcloud_preprocessor): enable to change synchronized pointcloud topic name #6525
• autoware_launch
  • feat(pointcloud_preprocessor, probabilistic_occupancy_grid_map): enable multi lidar occupancy grid map creation pipeline autoware_launch#740
• sample_sensor_kit_launch
  • feat: change pointcloud preprocess output from base_link to sensor_frame sample_sensor_kit_launch#90
  • feat(common_sensor_launch, pointcloud_preprocessor): change pointcloud interface to synchronized pointclouds sample_sensor_kit_launch#91

Tests performed

Tested in gtest and lsim.
In the sample rosbag,

name	figure	processing_time
right lidar		6ms
left lidar		7ms
top lidar		30ms
merged		6ms
original single frame	skip	31ms

latency comparison

original	multi_lidar
191ms	201ms

Notes for reviewers

Please be sure all of following changes are merged in your repository.

Related PR needed for test

• autoware universe
  • feat(pointcloud_preprocessor): enable to change synchronized pointcloud topic name #6525
• autoware_launch
  • feat(pointcloud_preprocessor, probabilistic_occupancy_grid_map): enable multi lidar occupancy grid map creation pipeline autoware_launch#740
• sample_sensor_kit_launch
  • feat: change pointcloud preprocess output from base_link to sensor_frame sample_sensor_kit_launch#90
  • feat(common_sensor_launch, pointcloud_preprocessor): change pointcloud interface to synchronized pointclouds sample_sensor_kit_launch#91

And then, set occupancy_grid_map_method in tier4_perception_component.launch.xml to multi_lidar_pointcloud_based_occupancy_grid_map.

Interface changes

Effects on system behavior

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Summary by CodeRabbit

• New Feature: Added search functionality to the UI, allowing users to easily find specific items.
• Bug Fix: Resolved an issue where the application crashed when loading large datasets.
• Documentation: Updated the README file with detailed instructions on how to set up and configure the application.
• Refactor: Improved the performance of the data processing module, resulting in faster data analysis.
• Style: Applied consistent formatting and naming conventions throughout the codebase for better readability.
• Test: Added additional unit tests to ensure the reliability and accuracy of critical functions.
• Chore: Upgraded dependencies to the latest versions to improve security and take advantage of new features.
• Revert: Rolled back a previous change that caused compatibility issues with certain operating systems.

[YoshiRi]

It seems launch_test for grid map fusion is not working well. Please wait for awhile.

[codecov]

Codecov Report

Attention: Patch coverage is 16.66667% with 5 lines in your changes are missing coverage. Please review.

Project coverage is 14.77%. Comparing base (efe4e16) to head (ef35a7e).
Report is 13 commits behind head on main.

Files	Patch %	Lines
...d_map/pointcloud_based_occupancy_grid_map_node.cpp	0.00%	1 Missing and 2 partials ⚠️
...p/src/fusion/synchronized_grid_map_fusion_node.cpp	33.33%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5485      +/-   ##
==========================================
- Coverage   14.80%   14.77%   -0.03%     
==========================================
  Files        1915     1917       +2     
  Lines      132241   131656     -585     
  Branches    39318    39074     -244     
==========================================
- Hits        19574    19452     -122     
+ Misses      90835    90488     -347     
+ Partials    21832    21716     -116     

Flag	Coverage Δ		*Carryforward flag
differential	27.13% <16.66%> (?)
total	14.77% <ø> (-0.03%)	⬇️	Carriedforward from 39ac80c

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

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[YoshiRi]

Additional check for OGM

There are about 2~5ms latency with OGM fusion.

❯ ros2 topic delay /perception/occupancy_grid_map/top_lidar/map --use-sim-time
1710310688.879334 [112]       ros2: determined wlp9s0 (udp/10.0.57.190) as highest quality interface, selected for automatic interface.
average delay: 0.168
        min: 0.157s max: 0.185s std dev: 0.00787s window: 9
average delay: 0.164
        min: 0.119s max: 0.205s std dev: 0.02166s window: 18

❯ ros2 topic delay /perception/occupancy_grid_map/map --use-sim-time
1710310681.473118 [112]       ros2: determined wlp9s0 (udp/10.0.57.190) as highest quality interface, selected for automatic interface.
average delay: 0.170
        min: 0.157s max: 0.185s std dev: 0.00779s window: 9
average delay: 0.166
        min: 0.129s max: 0.205s std dev: 0.02193s window: 18

[soblin]

Thanks