Improve/perception replayer

[xtk8532704]

Description

• Fix a bug that perception_replayer/perception_reproducer can't publish old 'autoware_auto_perception_msgs' in old rosbags.

• Add a new perception_reproducer_v2, that makes it possible to replay rosbag in chronological order even when ego is stopped. The algorithm follows this discussion:

Related links

https://tier4.atlassian.net/browse/RT1-6389

Tests performed

Notes for reviewers

About how perception_reproducer_v2 work

1. Reproduction Sequence Generation: Whenever the ego's position changes, a chronological reproduce_sequence is generated or regenerated.

2. Data Publication: The first element in the reproduce_sequence is popped and published. Published elements are added to a cooldown queue to prevent the same data from being republished in a short time during the ego's movement.

3. Reproduction Sequence Generation Details:

   • The nearest ego_odom in the rosbag according to the current ego pose is found and set as nearst_ego_odom_ind.
   • A list of ego_odom_indices is found, which contains ego_odom_indices close to the nearst_ego_odom_ind within a search radius (default 1 m).
   • The list is sorted by timestamp, and those ego_odom_indices in the cooldown queue are removed.

4. Data Publication Details:

   • The first element in reproduce_sequence is popped and related perception messages are published.
   • The cooldown queue is updated with the published data.
   • If reproduce_sequence is empty, the data that was published last time is published again.

5. What is it for?:

   • If the ego is moving, the reproduce_sequence will update each time and the first element will be published, so it works as the original perception_reproducer.
   • If the ego stops, data in reproduce_sequence will be published sequentially until reproduce_sequence is empty.

Interface changes

Effects on system behavior

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