refactor(perception): move CUDA related packages to perception/cuda directory

[youtalk]

Description

Currently, in the awf/autoware Dockerfile, sensing/perception packages that are built with CUDA libraries are explicitly listed and built as follows.

https://github.com/autowarefoundation/autoware/blob/main/docker/Dockerfile#L273-L284

RUN --mount=type=cache,target=${CCACHE_DIR} \
  # TODO(youtalk): Move CUDA related packages into a dedicated directory
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_bytetrack,target=/autoware/src/universe/autoware.universe/perception/autoware_bytetrack \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_apollo_instance_segmentation,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_apollo_instance_segmentation \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_centerpoint,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_centerpoint \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_lidar_transfusion,target=/autoware/src/universe/autoware.universe/perception/autoware_lidar_transfusion \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_shape_estimation,target=/autoware/src/universe/autoware.universe/perception/autoware_shape_estimation \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_classifier,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_classifier \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_common,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_common \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_yolox,target=/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_yolox \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_classifier,target=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_classifier \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_fine_detector,target=/autoware/src/universe/autoware.universe/perception/autoware_traffic_light_fine_detector \
  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils,target=/autoware/src/universe/autoware.universe/sensing/autoware_cuda_utils \
  source /opt/ros/"$ROS_DISTRO"/setup.bash \
  && source /opt/autoware/setup.bash \
  && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware

However, this approach has poor maintainability if packages are added or renamed in the future. Therefore, in this PR, these CUDA-related packages will be moved to the perception/cuda directory.

Related links

• refactor(sensing): move CUDA related packages to sensing/cuda directory #9369
• refactor(docker): move CUDA related packages to sensing/cuda and perception/cuda directories autoware#5454

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.60%. Comparing base (9aab36b) to head (02a81a4).
Report is 18 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9368      +/-   ##
==========================================
- Coverage   29.79%   29.60%   -0.19%     
==========================================
  Files        1338     1385      +47     
  Lines      103300   104841    +1541     
  Branches    40232    40681     +449     
==========================================
+ Hits        30779    31040     +261     
- Misses      69537    70784    +1247     
- Partials     2984     3017      +33     

Flag	Coverage Δ		*Carryforward flag
differential	7.81% <ø> (?)
total	29.79% <ø> (ø)		Carriedforward from 9aab36b

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[amadeuszsz]

LGTM

[Shin-kyoto]

@youtalk
[must]
Please change the title of your PR to show that your PR has BREAKING CHANGE.
e.g.

• refactor(perception)!:

c.f.
https://github.com/autowarefoundation/autoware-documentation/blob/476ee2726920448824952e27432055299216b538/docs/contributing/pull-request-guidelines/index.md?plain=1#L135-L137
https://www.conventionalcommits.org/en/v1.0.0/

[youtalk]

I will change this PR to PRs that move the packages one by one.