refactor(ndt_scan_matcher): modularize callback_sensor_points and some related functions

[kminoda]

Description

Aiming at integrating dynamic map loading feature in ndt_scan_matcher smoothly, I would like to modularize ndt_scan_matcher into the following modules:

• module that execute NDT scan matching (ndt_scan_matching_module) (This PR)
• module that load pointcloud map (map_module)
• module that execute the pose initialization (initial_pose_module)

As a third step, I would like to modularize callback_sensor_points and some related functions as an individual module.

Previous PRs:

• refactor(ndt_scan_matcher): modularize map_callback #2249

Some concerns:

• Is ndt_ptr_ptr_ the best practice to share the ndt_ptr_ among several objects?

(A side note: this would be the largest PR in terms of the modified lines by far until the dynamic map loading integration 🔥 )

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[codecov]

Codecov Report

Base: 11.09% // Head: 11.05% // Decreases project coverage by -0.04% ⚠️

Coverage data is based on head (7dea7e3) compared to base (c5e7246).
Patch coverage: 0.00% of modified lines in pull request are covered.

❗ Current head 7dea7e3 differs from pull request most recent head 2b777d7. Consider uploading reports for the commit 2b777d7 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2224      +/-   ##
==========================================
- Coverage   11.09%   11.05%   -0.05%     
==========================================
  Files        1201     1203       +2     
  Lines       86193    86530     +337     
  Branches    20704    20706       +2     
==========================================
  Hits         9564     9564              
- Misses      66670    66874     +204     
- Partials     9959    10092     +133     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	11.06% <0.00%> (-0.01%)	⬇️	Carriedforward from f7bc465

*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% <ø> (ø)
...ion/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp	0.00% <0.00%> (ø)
.../ndt_scan_matcher/src/ndt_scan_matching_module.cpp	0.00% <0.00%> (ø)
common/osqp_interface/src/osqp_interface.cpp	33.65% <0.00%> (ø)
planning/route_handler/src/route_handler.cpp	0.00% <0.00%> (ø)
planning/rtc_interface/src/rtc_interface.cpp	0.00% <0.00%> (ø)
control/trajectory_follower/src/mpc_utils.cpp	58.25% <0.00%> (ø)
planning/behavior_velocity_planner/src/node.cpp	0.41% <0.00%> (ø)
common/motion_utils/src/marker/marker_helper.cpp	0.00% <0.00%> (ø)
localization/ekf_localizer/src/ekf_localizer.cpp	0.00% <0.00%> (ø)
... and 92 more

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[kminoda]

Close this PR as this is not necessary for now.