feat(pose_initilizer): support gnss/imu pose estimator

[rsasaki0109]

Description

This is a modification of pose_initilizer to use GNSS/IMU pose estimtator.
When parameter ndt_enabled is true, NdtLocalizationTriggerModule.
When parameter ekf_enabled is true, EkfLocalizationTriggerModule.

Related discussions are here.
#2848 (comment)

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.20 ⚠️

Comparison is base (f76977a) 11.99% compared to head (4e8dd16) 11.80%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2904      +/-   ##
==========================================
- Coverage   11.99%   11.80%   -0.20%     
==========================================
  Files        1314     1315       +1     
  Lines       91445    90718     -727     
  Branches    24240    24180      -60     
==========================================
- Hits        10971    10709     -262     
+ Misses      69113    68831     -282     
+ Partials    11361    11178     -183     

Flag	Coverage Δ		*Carryforward flag
differential	8.53% <0.00%> (?)
total	11.81% <ø> (-0.19%)	⬇️	Carriedforward from 3d4e2e0

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

Impacted Files	Coverage Δ
...se_initializer/ekf_localization_trigger_module.cpp	0.00% <0.00%> (ø)
...se_initializer/ndt_localization_trigger_module.cpp	0.00% <0.00%> (ø)
...zer/src/pose_initializer/pose_initializer_core.cpp	0.00% <0.00%> (ø)
...lude/obstacle_avoidance_planner/common_structs.hpp	0.00% <0.00%> (-48.58%)	⬇️
...vehicle_model/vehicle_model_bicycle_kinematics.cpp	52.17% <0.00%> (-39.50%)	⬇️
...clude/obstacle_avoidance_planner/mpt_optimizer.hpp	62.50% <0.00%> (-22.12%)	⬇️
...ner/include/behavior_path_planner/data_manager.hpp	0.00% <0.00%> (-21.43%)	⬇️
...terpolation/src/spline_interpolation_points_2d.cpp	35.10% <0.00%> (-15.39%)	⬇️
planning/obstacle_avoidance_planner/src/node.cpp	0.12% <0.00%> (-13.46%)	⬇️
...nner/src/vehicle_model/vehicle_model_interface.cpp	75.00% <0.00%> (-10.72%)	⬇️
... and 188 more

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[rsasaki0109]

This implementation was not adopted due to cyclomatic complexity
afdadb3

[rsasaki0109]

@YamatoAndo
Hello. I have extended pose_initilizer for gnss/imu pose estimator, please review.

[isamu-takagi]

@rsasaki0109
Is the copyright 2022 intentional? It is recommended to use the same year if it is almost the same as the original file, and 2023 if there is a lot of new code.

[rsasaki0109]

Just conforming to localization_trigger_module.cpp, no deeper meaning. I think your suggestion is good and I will modify it.

[isamu-takagi]

Is the copyright 2022 intentional? It is recommended to use the same year if it is almost the same as the original file, and 2023 if there is a lot of new code.

Sorry, this was a comment on the new file. Existing files will retain their original publication year. So please don't change ekf_localization_trigger_module.hpp.

[isamu-takagi]

LGTM

[rsasaki0109]

@YamatoAndo @KeisukeShima
I would appreciate a review when you are free.

[rsasaki0109]

@YamatoAndo @isamu-takagi
I don't have write permission, so could you please merge them?