feat(tier4_localization_component_launch): change the default input pointcloud of localization into the concatenated pointcloud

[TaikiYamada4]

Description

Autoware should cover the use cases where the concatenated pointcloud will be applied as an input to the localization, and we expect that the number of vehicles that use multiple LiDARs will increase..

Therefore, this PR will change the default input_pointcloud to /sensing/lidar/concatenated/pointcloud instead of /sensing/lidar/top/pointcloud, and change the pointcloud container to /pointcloud_container due to this change.

Plus, I also refactored the name of the argument lidar_container_name to localization_pointcloud_container_name since the candidate pointcloud container may not be specific to such LiDAR (just like this case), and it makes the argument more clear that it is for the localization component.

Of course, this is just a modification of the default input_pointcloud, so one can choose to use a single LiDAR by changing the input_pointcloud to /sensing/lidar/***/pointcloud.

Related links

This PR must be merged with autowarefoundation/autoware.universe#6528!!

Tests performed

Confirmed that the localization worked with the concatenated pointcloud in the logging_simulator tutorial.
Also tested with internal driving data, and evaluated through CARET that it hardly affected the system latency. [TIER IV INTERNAL LINK]

Notes for reviewers

This PR must be merged with autowarefoundation/autoware.universe#6528!!

Interface changes

The localization component will use /sensing/lidar/concatenated/pointcloud by default.
The pointcloud preprocessing nodes in the localization component will join the pointcloud_container by default.

Effects on system behavior

The localization component will use /sensing/lidar/concatenated/pointcloud by default.
The pointcloud preprocessing nodes in the localization component will join the pointcloud_container by default.

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[YoshiRi]

LGTM

[SakodaShintaro]

I have confirmed that the logging_simulator runs with the same accuracy as before on AWSIM data with GT.
Looks Good To Me