fix(tier4_perception_launch): rearrange roi based cluster pipeline

[badai-nguyen]

Description

• To avoid duplication of roi_pointcloud_fusion and roi_cluster_fusion on unknown objects
• Roi_based_cluster pipeline

Before	After

Related links

Parent Issue:

• Link

How was this PR tested?

• Run logging_simulator with diffrent options of 'use_roi_based_cluster and use_low_intensity_cluster_filter and confirmed that perception model output predict/objects as disired.

  • use_roi_based_cluster:=true, use_low_intensity_cluster_filter:=true:
    

  • use_roi_based_cluster:=true, use_low_intensity_cluster_filter:=false:
    

  • use_roi_based_cluster:=false, use_low_intensity_cluster_filter:=false:
    

  • use_roi_based_cluster:=false, use_low_intensity_cluster_filter:=true:
    

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[YoshiRi]

LGTM