feat(ndt): remove ndt package

[kminoda]

Description

Remove ndt package.

The package was intended to provide a unique interface for various types of NDT implementation (like ndt_omp or pcl ones), but in real current Autoware is designed to use ndt_omp implementation. (e.g. the parameters are only designed for ndt_omp). In addition, as far as we know, NDT implementations other than ndt_omp does not seem to be used.

Thus, I propose to remove ndt and ndt_pcl_modified packages to simplify the localization module and especially ndt_scan_matcher.

Related links

[proposal] Removing NDT implementations other than ndt_omp

Tests performed

I have ran Autoware with the sample data from tutorial, and confirmed that the localization module works fine.

Notes for reviewers

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[codecov]

Codecov Report

Base: 10.77% // Head: 10.75% // Decreases project coverage by -0.02% ⚠️

Coverage data is based on head (7fe5ddf) compared to base (893a3bb).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2053      +/-   ##
==========================================
- Coverage   10.77%   10.75%   -0.03%     
==========================================
  Files        1186     1181       -5     
  Lines       84843    84723     -120     
  Branches    19898    19819      -79     
==========================================
- Hits         9144     9108      -36     
+ Misses      66007    65995      -12     
+ Partials     9692     9620      -72     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.75% <0.00%> (-0.01%)	⬇️	Carriedforward from 8fb13c9

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

Impacted Files	Coverage Δ
...include/ndt_scan_matcher/ndt_scan_matcher_core.hpp	0.00% <0.00%> (ø)
...ion/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp	0.00% <0.00%> (ø)
...ehicle/raw_vehicle_cmd_converter/src/brake_map.cpp	33.33% <0.00%> (-11.83%)	⬇️
..._converter/test/test_raw_vehicle_cmd_converter.cpp	27.77% <0.00%> (-4.23%)	⬇️
...planning_evaluator/src/planning_evaluator_node.cpp	37.11% <0.00%> (-1.04%)	⬇️
planning/behavior_path_planner/src/utilities.cpp	3.07% <0.00%> (-0.77%)	⬇️
control/trajectory_follower/src/mpc.cpp	48.13% <0.00%> (-0.40%)	⬇️
...ctory_follower/src/pid_longitudinal_controller.cpp	37.11% <0.00%> (-0.26%)	⬇️
perception/shape_estimation/src/node.cpp	0.00% <0.00%> (ø)
sensing/gnss_poser/src/gnss_poser_core.cpp	0.00% <0.00%> (ø)
... and 72 more

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[KYabuuchi]

Thank you for great PR!!
I built and tested your branch, and the NDT worked successfully.
I'll check out the details soon.

[KYabuuchi]

• There is still a description about OMP in ndt_scan_matcher/config/ndt_scan_matcher.param.yaml#L25.
  

• There is no default value for converged_param_type in tier4_localization_launch/config/ndt_scan_matcher.param.yaml.
  (On the other hand, ndt_scan_matcher/config/ndt_scan_matcher.param.yaml has the default value)

• There is no description of converged_type in the ndt_scan_matcher/README.md.
  If you don't mind, could you add something like following?

Type of termination criteria for iterative calculations (0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD)"

[KYabuuchi]

LGTM

[KYabuuchi]

@YamatoAndo I am not the owner on this branch and cannot give final approval.
Could you please review this PR in your free time?

(In the main branch I am the owner of ndt_scan_matcher , but this PR is derived from before that.)

[kminoda]

I think it depends on this one
#2118

[kminoda]

Oh, I think this PR is blocked since @.YamatoAndo is the only code owner of ndt package (which will be removed with this PR).

@YamatoAndo Would you also approve this PR?