feat: add gnss/imu localizer

[rsasaki0109]

Description

This is the PR for integrating GNSS/IMU localizar discussed in the discussion below.
https://github.com/orgs/autowarefoundation/discussions/3257

• Added gnss imu localizar related launch,param
• Added localization_modepose_estimator_mode(lidar, gnss),eaglye_twisttwist_estimator_mode(gyro_odom_fusion, gyro_odom_gnss_fusion) parameter in localization.launch.xml to switch between pose,twist
• In gyro_odom_gnss_fusion mode, twist is corrected by gnss.
• You can adjust the eagleye pose output in launch/tier4_localization_launch/launch/eagleye/fix2pose.xml.

Related links

autowarefoundation/autoware#3261
autowarefoundation/autoware_launch#200
autowarefoundation/autoware-documentation#334

Tests performed

Localizaiton methods are expected to work as normal, even if they change.
Sample rosbag is available for simple operation tests.
Also, if you have a rosbag of a system with the same configuration of sensors, you can check the operation to some extent.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.27 ⚠️

Comparison is base (0056a2a) 11.93% compared to head (fded6ce) 11.67%.

❗ Current head fded6ce differs from pull request most recent head aeb32ce. Consider uploading reports for the commit aeb32ce to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2848      +/-   ##
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- Coverage   11.93%   11.67%   -0.27%     
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  Files        1326     1321       -5     
  Lines       92209    90949    -1260     
  Branches    24649    24013     -636     
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- Hits        11008    10621     -387     
+ Misses      69788    69181     -607     
+ Partials    11413    11147     -266     

Flag	Coverage Δ		*Carryforward flag
differential	2.84% <ø> (?)
total	11.68% <ø> (-0.26%)	⬇️	Carriedforward from ba6a71d

*This pull request uses carry forward flags. Click here to find out more.

see 295 files with indirect coverage changes

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[rsasaki0109]

@yukkysaito
Corrected based on today's review.
048ef6b
I have reverted the pose_twist_fusion_filter.launch.xml and made the corresponding edits.

[kminoda]

Thank you for the contribution! First, I have some comments on the parameters that are introduced in this PR.

[rsasaki0109]

The commits went wrong, should I close this PR and submit a different one...?
It appears that this repository will never be the same again.

status
All commits from the day I submitted the PR to now are being re-committed with the assumption that I have signed off on all commits.

[KYabuuchi]

@rsasaki0109 I don't know the exact rules, but this PR with similar mistakes has been closed and re-created.