Move segmentation container to preprocessor container

[wep21]

PR Type

• Improvement

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Description

Separation of pointcloud process container raises total cpu usage by 5-10 %, so I move obstacle segmentation container to pointcloud preprocess container.
See the outputs of mpstat below
before
after

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[yukkysaito]

議論点

• perceptionを/sensing/lidar/pointcloud_preprocessor/pointcloud_preprocessor_containerというコンテナで動かすのに違和感
• モジュール間でまたぐのであれば、ground segmentationだけじゃなく、CenterPoint, Clustering, Localization用のvoxel grid filterもコンテナとしてまとめるべき

[yukkysaito]

@wep21 ちょっと今晩のTL syncで話し合うので待ってもらいたいのですが、一案としては
autoware_launcher.launchにpointcloud_containerという変数を定義してもらってsensing, perception, localizationでコンテナ名を共有できるようにしてもらう感じになるかなと思います。
コンテナ名候補

• /common/pointcloud_container
• /pointcloud_container
• /sensing/lidar/pointcloud_container