fix: add select option for dynamic transform lookup time

[badai-nguyen]

Description

• To fix this issue: Compare_map_segmentation degradation at high speed or during turns #10290
• Need to merge with this PR: fix: add selectable lookup time for dynamic transform autoware_utils#50

Related links

Parent Issue:

• TIER IV internal link

How was this PR tested?

• Test by logging simulator on high-speed moving/turn rosbag

	Before	After
Fast Moving (look at pillar on the left)	2_before.webm	2_after.webm
Turn Left	1_before.webm	1_after.webm

• Test by internal evaluator tool (WIP):
  • static_map_loader mode: https://evaluation.tier4.jp/evaluation/reports/03eefbbe-e4d9-5ef6-a0f4-363591d32cec?project_id=prd_jt
  • dynamic_map_loader mode: https://evaluation.tier4.jp/evaluation/reports/2245262f-959f-50a9-8afc-177008b258c4?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[badai-nguyen]

CI error:

/__w/autoware.universe/autoware.universe/sensing/autoware_pointcloud_preprocessor/src/filter.cpp: In member function ‘bool autoware::pointcloud_preprocessor::Filter::calculate_transform_matrix(const string&, const PointCloud2&, autoware::pointcloud_preprocessor::TransformInfo&)’:
/__w/autoware.universe/autoware.universe/sensing/autoware_pointcloud_preprocessor/src/filter.cpp:316:41: error: no matching function for call to ‘autoware_utils_pcl::ManagedTransformBuffer::get_transform(const string&, const _frame_id_type&, rclcpp::Time&, Eigen::Matrix4f&)’
  316 |   if (!managed_tf_buffer_->get_transform(
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  317 |         target_frame, from.header.frame_id, lookup_time, transform_info.eigen_transform)) {
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /__w/autoware.universe/autoware.universe/install/autoware_utils/include/autoware_utils/ros/managed_transform_buffer.hpp:21,
                 from /__w/autoware.universe/autoware.universe/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp:79,
                 from /__w/autoware.universe/autoware.universe/sensing/autoware_pointcloud_preprocessor/src/filter.cpp:52:
/__w/autoware.universe/autoware.universe/install/autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp:85:8: note: candidate: ‘bool autoware_utils_pcl::ManagedTransformBuffer::get_transform(const string&, const string&, Eigen::Matrix4f&)’
   85 |   bool get_transform(
      |        ^~~~~~~~~~~~~
/__w/autoware.universe/autoware.universe/install/autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp:85:8: note:   candidate expects 3 arguments, 4 provided
In file included from /usr/include/c++/11/memory:76,
                 from /__w/autoware.universe/autoware.universe/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp:57,
                 from /__w/autoware.universe/autoware.universe/sensing/autoware_pointcloud_preprocessor/src/filter.cpp:52:
/usr/include/c++/11/bits/unique_ptr.h: In instantiation of ‘typename std::_MakeUniq<_Tp>::__single_object std::make_unique(_Args&& ...) [with _Tp = autoware_utils_pcl::ManagedTransformBuffer; _Args = {autoware::pointcloud_preprocessor::Filter*, bool&, bool&}; typename std::_MakeUniq<_Tp>::__single_object = std::unique_ptr<autoware_utils_pcl::ManagedTransformBuffer>]’:
/__w/autoware.universe/autoware.universe/sensing/autoware_pointcloud_preprocessor/src/filter.cpp:128:80:   required from here
/usr/include/c++/11/bits/unique_ptr.h:962:30: error: no matching function for call to ‘autoware_utils_pcl::ManagedTransformBuffer::ManagedTransformBuffer(autoware::pointcloud_preprocessor::Filter*, bool&, bool&)’
  962 |     { return unique_ptr<_Tp>(new _Tp(std::forward<_Args>(__args)...)); }
      |                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /__w/autoware.universe/autoware.universe/install/autoware_utils/include/autoware_utils/ros/managed_transform_buffer.hpp:21,
                 from /__w/autoware.universe/autoware.universe/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp:79,
                 from /__w/autoware.universe/autoware.universe/sensing/autoware_pointcloud_preprocessor/src/filter.cpp:52:
/__w/autoware.universe/autoware.universe/install/autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp:66:12: note: candidate: ‘autoware_utils_pcl::ManagedTransformBuffer::ManagedTransformBuffer(rclcpp::Node*, const bool&)’
   66 |   explicit ManagedTransformBuffer(rclcpp::Node * node, const bool & has_static_tf_only)
      |            ^~~~~~~~~~~~~~~~~~~~~~
/__w/autoware.universe/autoware.universe/install/autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp:66:12: note:   candidate expects 2 arguments, 3 provided
/__w/autoware.universe/autoware.universe/install/autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp:63:7: note: candidate: ‘autoware_utils_pcl::ManagedTransformBuffer::ManagedTransformBuffer(autoware_utils_pcl::ManagedTransformBuffer&&)’
   63 | class ManagedTransformBuffer
      |       ^~~~~~~~~~~~~~~~~~~~~~
/__w/autoware.universe/autoware.universe/install/autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp:63:7: note:   candidate expects 1 argument, 3 provided
gmake[2]: *** [CMakeFiles/pointcloud_preprocessor_filter_base.dir/build.make:76: CMakeFiles/pointcloud_preprocessor_filter_base.dir/src/filter.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:205: CMakeFiles/pointcloud_preprocessor_filter_base.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Aborted  <<< autoware_test_utils [1min 17s]

I think this will be passed after autowarefoundation/autoware_utils#50 merged

[technolojin]

As here any reason to let user select to pick the latest or message time? I thing using message time is the only option to be.

Proposal: do not add option use_pc_stamp_for_dynamic_transform_lookup and implement the message time transformation ONLY.

[YoshiRi]

Same comment with taekjin-san.
Do we need transform within current timestamp for pointcloud transforms? If no, we can simply set true in this part.

[badai-nguyen]

@technolojin cc @YoshiRi

As here any reason to let user select to pick the latest or message time? I thing using message time is the only option to be.

Proposal: do not add option use_pc_stamp_for_dynamic_transform_lookup and implement the message time transformation ONLY.

The get_dynamic_transform function is used in different nodes and some node should use the latest timestamp for transform such as distortion_correctorI think. It was the reason I add optional for lookup time.
cc @vividf Could you review the affect of this change to distortion_corrector?

[technolojin]

@technolojin cc @YoshiRi

As here any reason to let user select to pick the latest or message time? I thing using message time is the only option to be.
Proposal: do not add option use_pc_stamp_for_dynamic_transform_lookup and implement the message time transformation ONLY.

The get_dynamic_transform function is used in different nodes and some node should use the latest timestamp for transform such as distortion_correctorI think. It was the reason I add optional for lookup time. cc @vividf Could you review the affect of this change to distortion_corrector?

Those can be co-exist.
As comment of @YoshiRi, setting use_pc_stamp_for_dynamic_transform_lookup_ could be always true.