fix: add selectable lookup time for dynamic transform

[badai-nguyen]

Description

• Current dynamic transform is always select the latest time (rclcpp::Time(0)) to lookup the transform:
  

  autoware_utils/autoware_utils/include/autoware_utils/ros/managed_transform_buffer.hpp

  Lines 211 to 212 in 182c967

  	target_frame, source_frame, rclcpp::Time(0), rclcpp::Duration(1000ms));
  	if (tf == nullptr) {

• 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.

• This PR to add an option of latest or pointcloud header stamp selection for transform lookup.

• To solve issue: Compare_map_segmentation degradation at high speed or during turns autoware_universe#10290

• Need to merger with: fix: add select option for dynamic transform lookup time autoware_universe#10288

How was this PR tested?

Notes for reviewers

None.

Effects on system behavior

None.

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[amadeuszsz]

Thank you for detailed investigation!

I think we should make time stamp as a required argument, rather than assigning 0 implicitly. We did it before for simplification.

Could you make it as a required argument for all calls? 🙏🏻
I already made quick refactor to figure out design, you can copy it and check if it solves your issue.
Packages in universe will need simple change to e.g.

managed_tf_buffer_->transform_pointcloud(
    in_target_frame, in_cloud_ptr->header.stamp, rclcpp::Duration::from_seconds(1.0), *in_cloud_ptr,  *out_cloud_ptr, true);

From API point of view, I think "stamp overriding" argument is more suitable in call rather than constructor.