perf(autoware_universe_utils): introduce managed transform buffer with implicitly defined listener type

[amadeuszsz]

Description

See parent issue.

Related links

Parent Issue:

• Autoware Transform Listener - performance improvement autoware#5385

How was this PR tested?

• See parent issue for results.
• To test locally, you need to pull related PR, feat: remove managed transform buffer autoware_utils#41 and https://github.com/autowarefoundation/ManagedTransformBuffer as well.
• This PR applies changes to two packages only. You can also test ManagedTransformBuffer applied for all the autoware.universe:

cd ~/autoware
git checkout 0.41.2
vcs import src < autoware.repos
git clone https://github.com/autowarefoundation/ManagedTransformBuffer src/universe/external/managed_transform_buffer
cd src/universe/autoware/autoware.universe
git remote add amadeuszsz https://github.com/amadeuszsz/autoware.universe.git
git pull amadeuszsz feat/managed-tf-buffer-demo-test
git checkout feat/managed-tf-buffer-demo-test
cd ~/autoware
cd src/core/autoware_utils
git remote add amadeuszsz https://github.com/amadeuszsz/autoware_utils.git
git pull amadeuszsz feat/remove-managed-tf-buffer
git checkout feat/remove-managed-tf-buffer
cd ~/autoware
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"-DCMAKE_EXPORT_COMPILE_COMMANDS=On

# press space to resume rosbag
ros2 bag play ~/autoware_data/rosbags/sample-rosbag/ -r 1.0 -p
ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

To validate number of listeners during runtime, use ros2 node list | grep impl -c.

Notes for reviewers

Interface changes

• has_static_tf_only parameter is not necessary anymore.
• getTransform now has form getTransform<typename T> (geometry_msgs::msg::TransformStamped, tf2::Transform, Eigen::Matrix4f).
• getTransform returns std::optional.

Effects on system behavior

See parent issue.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 36.92308% with 41 lines in your changes missing coverage. Please review.

Project coverage is 26.39%. Comparing base (fbc7a9d) to head (8232deb).

Files with missing lines	Patch %	Lines
...ng/autoware_pointcloud_preprocessor/src/filter.cpp	7.69%	12 Missing ⚠️
...r/src/time_synchronizer/time_synchronizer_node.cpp	0.00%	7 Missing ⚠️
..._map_filter/vector_map_inside_area_filter_node.cpp	0.00%	5 Missing ⚠️
...r/src/concatenate_data/concatenate_pointclouds.cpp	0.00%	4 Missing ⚠️
...src/vector_map_filter/lanelet2_map_filter_node.cpp	0.00%	4 Missing ⚠️
...und_segmentation/src/ransac_ground_filter/node.cpp	57.14%	0 Missing and 3 partials ⚠️
...ssor/distortion_corrector/distortion_corrector.hpp	60.00%	0 Missing and 2 partials ⚠️
.../src/distortion_corrector/distortion_corrector.cpp	77.77%	0 Missing and 2 partials ⚠️
...distortion_corrector/distortion_corrector_node.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9197      +/-   ##
==========================================
- Coverage   26.39%   26.39%   -0.01%     
==========================================
  Files        1389     1389              
  Lines      107757   107775      +18     
  Branches    41509    41517       +8     
==========================================
+ Hits        28441    28445       +4     
- Misses      76479    76495      +16     
+ Partials     2837     2835       -2     

Flag	Coverage Δ		*Carryforward flag
differential	38.26% <36.92%> (?)
differential-cuda	34.87% <36.92%> (?)
total	26.39% <ø> (-0.01%)	⬇️	Carriedforward from fbc7a9d

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

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[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[knzo25]

Not really for this PR, but
" " does not evaluate as empty, so I think it goes against its apparent objective

autoware.universe/sensing/autoware_pointcloud_preprocessor/src/filter.cpp

Line 274 in b3caa5c

if (!tf_input_frame_.empty() && cloud->header.frame_id != tf_input_frame_) {

@badai-nguyen what do you think?