Compare_map_segmentation degradation at high speed or during turns

[badai-nguyen]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

• Compare_map_segmentation's result is unstable when ego-vehicle moves at high speed or turns.

cfa23601-97c4-4d47-a37e-edfc7e080d8c_2025-03-13-15-20-41_p0900_1_speed.webm

• A large static objects' pointcloud remain even after compare_map_segmentation

Screencast.from.2025.03.18.09.17.00.webm

• White point: ground_segmentation result
• Pink: compare_map_segmentation result
• Green: downsampled map

Expected behavior

• Compare_map_segmentation should remain stable regardless ego-vehicle's speed
• Large static objects will be also removed successfully at high speed.

Actual behavior

• Compare_map_segmentation is unstable when ego-vehicle moves fast or turn.
• Even large static objects' pointcloud remain at high speed moving.

Steps to reproduce

• Using logging_simulator
• Test with high-speed moving vehicle rosbag
• Rendering /perception/object_recognition/detection/pointcloud_map_filtered/pointcloud topic to check compare_map_segmentation result

Versions

No response

Possible causes

• Current dynamic transform is always select the latest time (rclcpp::Time(0)) to lookup the transform:
  https://github.com/autowarefoundation/autoware_utils/blob/182c967b189f786faf0f01a08dd7cd2da7999f2f/autoware_utils/include/autoware_utils/ros/managed_transform_buffer.hpp#L211-L212

• However, some filter such as compare_map_segmentation which compare lidar pointcloud with the map pointcloud to remove static objects need to lookup the transform at the time when lidar pointcloud recorded.

Additional context

• An Option for lookup time should be added and set the pointcloud header time for transform during compare_map_segmentation