feat: merge ground segmentation evaluator

[hayato-m126]

Types of PR

• New Features

Description

• merge ground segmentation evaluator from v1
• feat: add ground_segmentation_evaluator  driving_log_replayer#528

How to review this PR

Changes from v1

• t4_dataset directory is no longer needed
  • Place dataset directly in the same hierarchy as scenario
• launch argument of sensing is changed from default false to true
  • If you want to use concatenated/pointcloud in bag, you need to explicitly specify sensing:=false as launch argument.
• The default output directory for simulaion results is now the out directory of the same directory as scenario.
• Map are placed in a t4_dataset.
  • It is no longer possible to specify in LocalMapPath in the scenario

~/dlr2_data/ground_segmentation
❯ tree . -L 2
.
├── out
│   ├── 2024-1126-134606
│   └── latest -> /home/hyt/dlr2_data/ground_segmentation/out/2024-1126-134606
├── sample_dataset
│   ├── annotation
│   ├── data
│   ├── input_bag
│   └── map
├── scenario_annotated_pcd.yaml
└── scenario_annotated_rosbag.yaml

ros2 launch driving_log_replayer_v2 driving_log_replayer_v2.launch.py scenario_path:=$HOME/dlr2_data/ground_segmentation/scenario_annotated_rosbag.yaml sensing:=false

Others

Do not squash and merge.
Use merge commit

[sonarcloud]

Quality Gate passed

Issues
3 New issues
0 Accepted issues

Measures
0 Security Hotspots
2.3% Coverage on New Code
3.9% Duplication on New Code

See analysis details on SonarQube Cloud

[badai-nguyen]

@hayato-m126 thank you for your PR.
I confirmed that this PR create a similar result as tier4/driving_log_replayer#528 with option sensing:=false
[INFO] [launch.user]: check_launch_component(conf)={'sensing': False, 'localization': 'false', 'perception': 'true', 'planning': 'false', 'control': 'false'}
However, It seems LaunchSensing: False cannot be set from scenario.yml file so I create a PR to fix it. Could you review it?

[badai-nguyen]

LGTM