feat: adding switchable modes to LiDAR Visibility

[badai-nguyen]

Related Issue(required)

#357

Description(required)

This setup some options to exclude the effects of weak_first_return from objects:

1. Checking point clouds of object segments in both directions: azimuth and rings
2. Adding 3 switchable modes of region of interest (ROI):

• Free-space ROI
• Base_link based xyz-ROI
• LiDAR based azimuth-distance-ROI

Review Procedure(required)

Switch and test 3 modes of ROI on a city road data.
Confirm the changing of visibility.

Related PR(optional)

tier4/aip_launcher#21

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Read commit-guidelines
• Assign PR to reviewer

If you are adding new package following items are required:

• Documentation with description of the package is available
• A sample launch file and parameter file are available if the package contains executable nodes

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR / build-and-test-pr: Required to pass before the merge.
• Build and test for PR / clang-tidy-pr: NOT required to pass before the merge. It is up to the reviewer(s). Found false positives? See the [guidelines][clang-tidy-guidelines].
• Check spelling: NOT required to pass before the merge. It is up to the reviewer(s). See here if you want to add some words to the spell check dictionary.

[codecov]

Codecov Report

Merging #345 (7edd2cf) into tier4/proposal (637e981) will decrease coverage by 9.84%.
The diff coverage is 0.00%.

@@                Coverage Diff                @@
##           tier4/proposal    #345      +/-   ##
=================================================
- Coverage            9.84%   0.00%   -9.85%     
=================================================
  Files                 661      42     -619     
  Lines               47127    2862   -44265     
  Branches             5805       0    -5805     
=================================================
- Hits                 4641       0    -4641     
+ Misses              38622    2862   -35760     
+ Partials             3864       0    -3864     

Impacted Files	Coverage Δ
...lier_filter/dual_return_outlier_filter_nodelet.cpp	0.00% <0.00%> (ø)
...ction_by_tracker/src/detection_by_tracker_core.cpp	0.00% <0.00%> (ø)
.../src/concatenate_data/concatenate_data_nodelet.cpp	0.00% <0.00%> (ø)
...src/outlier_filter/ring_outlier_filter_nodelet.cpp	0.00% <0.00%> (ø)
...l_based_approximate_compare_map_filter_nodelet.cpp	0.00% <0.00%> (ø)
...src/object_detection/predicted_objects_display.cpp
...ctor/src/external_velocity_limit_selector_node.cpp
...icle/raw_vehicle_cmd_converter/src/interpolate.cpp
...stacle_avoidance_planner/src/eb_path_optimizer.cpp
... and 615 more

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 637e981...7edd2cf. Read the comment docs.

[miursh]

@badai-nguyen If you have made some change in launcher of this node, could you make another PR in launcher repository? And then attach the url to "Related PR(optional)" in this PR.

[badai-nguyen]

@miursh Sure. I will create PR in aip launcher repo.

[miursh]

@badai-nguyen Due to the source code change, https://github.com/autowarefoundation/autoware.universe/blob/tier4/proposal/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md needs to be modified.

The base branch was changed.