fix(tier4_perception_launch): rearrange downsample

[badai-nguyen]

Description

This PR will move voxel_grid_downsample pointcloud from before compare_map_filter to before ground_segmentation to reduce computational cost.
https://star4.slack.com/archives/C03S84LDJGG/p1695623101952399?thread_ts=1695301059.965649&cid=C03S84LDJGG

Related link

This PR should merge together with tier4/aip_launcher#175

Tests performed

Reduce 6% of cpu usage of /pointcloud_container

Before	After
0388f3fc-7d88-4520-b78f-b90befa92094_2023-10-06-10-12-41_p0900_before_arrange_max_53%_min_41%.webm	0388f3fc-7d88-4520-b78f-b90befa92094_2023-10-06-10-12-41_p0900_after_arrange_voxel_grid_downsample_max_45%_min_36.7%_add_param_voxel_size.webm

Not applicable.

Effects on system behavior

Not applicable.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[yukkysaito]

LGTM

[badai-nguyen]

@miursh I reflected your comment tier4/aip_launcher#175 (comment) in bc48f9e. Could you review this again?

[badai-nguyen]

@miursh

• As our discustion, to keep keep pointcloud coordinates unchanged after downsampling, the approximate_downsample_filter should be used.
• However, there was no improvement in computational cost (total CPU usage% of pointcloud_container) so I will close this PR.

Comparison of CPU% of pointcloud_container using rosbag 0388f3fc-7d88-4520-b78f-b90befa92094_2023-09-26-10-54-08_p0900_1.

before-rearrange	after-rearrange voxelgridbased	after-rearrange approximate