fix(ar_tag_based_localizer): added small changes

[SakodaShintaro]

Description

Multiple small changes added.

• Changed Qos for the input image topic from reliable to best_effort.
• Changed to dynamically scale covariance according to recognition distance.
• Changed camera_frame_ to be taken from the received image topic instead of keeping it as a member variable
• Added the sample simulation data from AWSIM.

Tests performed

for deault Autoware (i.e. pose_source:=ndt)

• logging_simulator (sample rosbag)
• driving_log_replayer (sample rosbag)
• AWSIM

for ar_tag_based_localizer (pose_source:=artag)

• logging_simulator (sample data 1 / Real world data)
• logging_simulator (sample data 2 / AWSIM)

Evaluation Result

Method	Mean Error[m]
Odometry Only	2.766
Odometry + AR-Tag	0.627
Odometry + NDT(Default Autoware)	0.053

Effects on system behavior

If AR tag-based self-location estimation is used, the behavior changes slightly. Otherwise, there is no change.

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[KYabuuchi]

Thank you for creating the PR! I have tried your new rosbag.
The position is corrected each time an AR marker is detected, so I think it is functioning as intended.

artag_with_rosbag_made_by_awsim.mp4

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.72% ⚠️

Comparison is base (a25cbe0) 15.92% compared to head (e044442) 15.21%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4885      +/-   ##
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- Coverage   15.92%   15.21%   -0.72%     
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  Files        1580     1578       -2     
  Lines      109009   108201     -808     
  Branches    33616    33185     -431     
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- Hits        17359    16461     -898     
- Misses      73035    73853     +818     
+ Partials    18615    17887     -728     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	15.21% <ø> (-0.71%)	⬇️	Carriedforward from 0d83680

*This pull request uses carry forward flags. Click here to find out more.

Files Changed	Coverage Δ
...ased_localizer/src/ar_tag_based_localizer_core.cpp	0.00% <0.00%> (ø)

... and 67 files with indirect coverage changes

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[SakodaShintaro]

@KYabuuchi
Thanks for your review!
The upper limit was revised to 13 m. 0d83680
With this change, there is now less lateral shift except for the last tag.

In fact, it would be better if the AR tag placement could be improved to observe within 10 m. In AWSIM, the vehicle is a full-size car, so the AR tag is placed about 12~13 m away from the car.

In the use case assumed by AR tag-based self-localization, such as a small car, it would be possible to place it with such constraints.

[KYabuuchi]

LGTM 👌

Also, I have confirmed that excessive position correction has been improved due to changes in the detection limit.

[Motsu-san]

LGTM