refactor: move occ_grid_map package to perception folder

Signed-off-by: Yoshi Ri <yoshi.ri@tier4.jp>

perception/probabilistic_occupancy_grid_map/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(probabilistic_occupancy_grid_map)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(eigen3_cmake_module REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(PCL REQUIRED)
+
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
+# PointcloudBasedOccupancyGridMap
+ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED
+  src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
+  src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp
+  src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp
+)
+
+target_link_libraries(pointcloud_based_occupancy_grid_map
+  ${PCL_LIBRARIES}
+)
+
+rclcpp_components_register_node(pointcloud_based_occupancy_grid_map
+  PLUGIN "occupancy_grid_map::PointcloudBasedOccupancyGridMapNode"
+  EXECUTABLE pointcloud_based_occupancy_grid_map_node
+)
+
+# LaserscanBasedOccupancyGridMap
+ament_auto_add_library(laserscan_based_occupancy_grid_map SHARED
+  src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
+  src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp
+  src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp
+)
+
+target_link_libraries(laserscan_based_occupancy_grid_map
+  ${PCL_LIBRARIES}
+)
+
+rclcpp_components_register_node(laserscan_based_occupancy_grid_map
+  PLUGIN "occupancy_grid_map::LaserscanBasedOccupancyGridMapNode"
+  EXECUTABLE laserscan_based_occupancy_grid_map_node
+)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+    launch
+)

perception/probabilistic_occupancy_grid_map/README.md

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+# probabilistic_occupancy_grid_map
+
+## Purpose
+
+This package outputs the probability of having an obstacle as occupancy grid map.
+![pointcloud_based_occupancy_grid_map_sample_image](./image/pointcloud_based_occupancy_grid_map_sample_image.gif)
+
+## References/External links
+
+- [Pointcloud based occupancy grid map](pointcloud-based-occupancy-grid-map.md)
+- [Laserscan based occupancy grid map](laserscan-based-occupancy-grid-map.md)