feat(ndt): remove ndt package (autowarefoundation#2053)

* first commit

Signed-off-by: kminoda <koji.m.minoda@gmail.com>

* CMakeLists.txt does not work........

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* build works

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* debugged

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* remove unnecessary parameter

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* ci(pre-commit): autofix

* removed 'omp'-related words completely

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* ci(pre-commit): autofix

* fixed param description of converged_param

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* remove OMPParams

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* removed unnecessary includes

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* removed default parameter from search_method

* small fix

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Signed-off-by: kminoda <koji.m.minoda@gmail.com>
Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml

@@ -1,15 +1,12 @@
 /**:
   ros__parameters:
+
     # Vehicle reference frame
     base_frame: "base_link"
 
     # Subscriber queue size
     input_sensor_points_queue_size: 1
 
-    # NDT implementation type
-    # 0=PCL_GENERIC, 1=PCL_MODIFIED, 2=OMP
-    ndt_implement_type: 2
-
     # The maximum difference between two consecutive
     # transformations in order to consider convergence
     trans_epsilon: 0.01
@@ -25,7 +22,6 @@
 
     # Converged param type
     # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD
-    # NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD is only available when NDTImplementType::OMP is selected
     converged_param_type: 1
 
     # If converged_param_type is 0
@@ -45,12 +41,12 @@
     # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
     initial_pose_distance_tolerance_m: 10.0
 
-    # neighborhood search method in OMP
+    # neighborhood search method
     # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
-    omp_neighborhood_search_method: 0
+    neighborhood_search_method: 0
 
     # Number of threads used for parallel computing
-    omp_num_threads: 4
+    num_threads: 4
 
     # The covariance of output pose
     # Do note that this covariance matrix is empirically derived