fix(transformPointCloud): use tier4_autoware_utils instead of pcl

[h-ohta]

Description

autowarefoundation#3359 のbackportとして、必要な部分をピックアップして適用する
なお、tier4_autoware_utilsのパッケージに手を加える場合影響範囲が膨大なため、修正が必要な箇所のみの対応とする

Related Links

https://tier4.atlassian.net/browse/AEAP-517

Tests performed

• ビルドが問題ないこと
• コード内に存在している pcl::transformPointCloudが tier4_autoware_utils::transformPointCloudに変更されていること
• planning_simulatorで自己位置およびゴールを設定した際にbehavior_velocity_plannerが強制終了しないこと

Effects on system behavior

Not applicable.

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[codecov-commenter]

Codecov Report

❗ No coverage uploaded for pull request base (beta/v0.3.16@79db463). Click here to learn what that means.
Patch has no changes to coverable lines.

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Additional details and impacted files

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  Partials                ?     218           

Flag	Coverage Δ
differential	5.54% <0.00%> (?)

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[v-nojiri7841-esol]

LGTM

• ビルドOK.
• pcl::transformPointCloudのtier4_autoware_utils::transformPointCloudへの置き換えOK。
  • 残存するpcl::transformPointCloudはtier4_autoware_utils::transformPointCloudにてラッパーされているか、IGNOREされているモジュールであることを確認。
• 修正前に発生していた以下のノード突然死が解消されており、自己位置設定から目的の到着までできること確認済。

  1684462951.7480030 [ERROR] [component_container_mt-24]: process has died [pid 405716, exit code -8, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning -p use_sim_time:=False -p wheel_radius:=0.258 -p wheel_width:=0.145 -p wheel_base:=1.335 -p wheel_tread:=0.955 -p front_overhang:=0.53 -p rear_overhang:=0.375 -p left_overhang:=0.0725 -p right_overhang:=0.0725 -p vehicle_height:=1.87 -p max_steer_angle:=0.64'].