feat(autoware_cuda_pointcloud_preprocessor): pointcloud concatenation

[knzo25]

Description

NOTE: #10298 needs to be merged before this PR
The beforementioned PR templated the pointcloud concatenation, which this PR exploits to implement the cuda version is as little code duplication as possible.

This is part of the series of PR related to #9722

List of PRs:

• feat(autoware_cuda_pointcloud_preprocessor): a cuda-accelerated pointcloud preprocessor #9454 (pointcloud preprocessing)
• feat(autoware_pointcloud_preprocessor): templated version of the pointcloud concatenation #10298 (concatenation - template refactor)
• feat(autoware_cuda_pointcloud_preprocessor): pointcloud concatenation #10300 (concatenation - cuda version)
• feat(autoware_lidar_centerpoint): added the cuda_blackboard to centerpoint #9453 (centerpoint)
• transfusion (TODO)
• feat(autoware_probabilistic_occupancy_grid_map): cuda accelerated implementation #9542 (OGM - the first implementation will be independent of the blackboard to ease the transition)
• feat: acceleration and transport layer tier4/aip_launcher#348 (aip_launcher)
• feat: acceleration and transport layer sample_sensor_kit_launch#111 (sample_sensor_kit_launch)

Depending on your machine and how many nodes are in a container, the following branch may also be required:
https://github.com/knzo25/launch_ros/tree/fix/load_composable_node
There seems to be a but in ROS where if you send too many services at once some will be lost and ros_launch can not handle that.

Related links

Parent Issue:

• Link

How was this PR tested?

The sensing/perception pipeline was tested until centerpoint for TIER IV's taxi using the logging simulator.
The following tests were executed in a laptop equipped with a RTX 4060 (laptop) GPU and a Intel(R) Core(TM) Ultra 7 165H (22 cores)

Node / processing time [ms]	Current	PR
/sensing/lidar/top/crop_box_filter_self/debug/processing_time_ms	5.81	N/A
/sensing/lidar/top/crop_box_filter_mirror/debug/processing_time_ms	4.59	N/A
/sensing/lidar/top/distortion_corrector/debug/processing_time_ms	10.96	N/A
/sensing/lidar/top/ring_outlier_filter/debug/processing_time_ms	10.69	N/A
/sensing/lidar/top/cuda_pointcloud_preprocessor/debug/processing_time_ms	N/A	3.08 (2.03 are H->D copies)
/sensing/lidar/concatenate_data_synchronizer/debug/processing_time_ms	7.83	0.70
Total	38.8	3.78

10.26 speedup!

Notes for reviewers

The main branch that I used for development is feat/cuda_acceleration_and_transport_layer2.
However, the changes were too big so I split the PRs. That being said, development, if any will still be on that branch (and then cherrypicked to the respective PRs), and the review changes will be cherrypicked into the development branch.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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