fix(ground_segmentation launch): fix ground segmentation concatenate node and timeout (#1283)

* fix: add offset time for ground_segmentation concat

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: fix ground_segmentation launch

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: ground_seg concat node

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: CI check

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

---------

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

Author: badai-nguyen

launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -434,17 +434,17 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con
     def get_additional_lidars_concatenated_component(input_topics, output_topic):
         return ComposableNode(
             package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+            plugin="pointcloud_preprocessor::PointCloudConcatenationComponent",
             name="concatenate_data",
             remappings=[
-                ("~/input/odom", "/localization/kinematic_state"),
                 ("output", output_topic),
             ],
             parameters=[
                 {
                     "input_topics": input_topics,
                     "output_frame": LaunchConfiguration("base_frame"),
-                    "input_twist_topic_type": "odom",
+                    "approximate_sync": True,
+                    "timeout_sec": 0.095,
                 }
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],