feat(pointcloud_preprocessor, probabilistic_occupancy_grid_map): enable multi lidar occupancy grid map creation pipeline (#740)

* add multi lidar pointcloud based ogm creation

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* enable sensing launch to control concatenate node

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* style(pre-commit): autofix

* refactor : change concatenate node parameter name

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* chore: set single lidar ogm to be default

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* feat: update multi_lidar_ogm param file

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* chore: remove sensing launch changes because it does not needed

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* chore: fix multi lidar settings for sample sensor kit

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: YoshiRi

autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml

@@ -0,0 +1,53 @@
+# sample grid map fusion parameters for sample sensor kit
+/**:
+    ros__parameters:
+      # shared parameters
+      shared_config:
+        map_frame: "map"
+        base_link_frame: "base_link"
+        # center of the grid map
+        gridmap_origin_frame: "base_link"
+
+        map_resolution: 0.5 # [m]
+        map_length_x: 150.0 # [m]
+        map_length_y: 150.0 # [m]
+
+      # each grid map parameters
+      ogm_creation_config:
+        height_filter:
+          use_height_filter: true
+          min_height: -1.0
+          max_height: 2.0
+        enable_single_frame_mode: true
+        # use sensor pointcloud to filter obstacle pointcloud
+        filter_obstacle_pointcloud_by_raw_pointcloud: true
+
+        grid_map_type: "OccupancyGridMapFixedBlindSpot"
+        OccupancyGridMapFixedBlindSpot:
+          distance_margin: 1.0
+        OccupancyGridMapProjectiveBlindSpot:
+          projection_dz_threshold: 0.01 # [m] for avoiding null division
+          obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length
+          pub_debug_grid: false
+
+      # parameter settings for ogm fusion
+      fusion_config:
+        # following parameters are shared: map_frame, base_link_frame, gridmap_origin_frame, map_resolution, map_length
+        # Setting1: tune ogm creation parameters
+        raw_pointcloud_topics: # put each sensor's pointcloud topic
+          - "/sensing/lidar/top/pointcloud"
+          - "/sensing/lidar/left/pointcloud"
+          - "/sensing/lidar/right/pointcloud"
+        fusion_input_ogm_topics:
+          - "/perception/occupancy_grid_map/top_lidar/map"
+          - "/perception/occupancy_grid_map/left_lidar/map"
+          - "/perception/occupancy_grid_map/right_lidar/map"
+        # reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer"
+        input_ogm_reliabilities:
+          - 1.0
+          - 0.6
+          - 0.6
+
+      # Setting2: tune ogm fusion parameters
+      ## choose fusion method from ["overwrite", "log-odds", "dempster-shafer"]
+        fusion_method: "overwrite"

autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml

@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+    # 1. fusion parameters
+    fusion_input_ogm_topics: ["topic1", "topic2"]
+    input_ogm_reliabilities: [0.8, 0.2]
+    fusion_method: "overwrite" # choose from ["overwrite", "log-odds", "dempster-shafer"]
+
+    # 2. synchronization settings
+    match_threshold_sec: 0.01    # 10ms
+    timeout_sec: 0.1             # 100ms
+    input_offset_sec: [0.0, 0.0] # no offset
+
+    # 3. settings for fused fusion map
+    # remember resolution and map size should be same with input maps
+    map_frame_: "map"
+    base_link_frame_: "base_link"
+    grid_map_origin_frame_: "base_link"
+    fusion_map_length_x: 100.0
+    fusion_map_length_y: 100.0
+    fusion_map_resolution: 0.5

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -1,6 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
+  <arg
+    name="occupancy_grid_map_method"
+    default="pointcloud_based_occupancy_grid_map"
+    description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map, multi_lidar_pointcloud_based_occupancy_grid_map"
+  />
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
   <arg