feat(ndt_scan_matcher): add tolerance of initial pose

[YamatoAndo]

Related Issue(required)

Description(required)

Add validation for initial pose which is from ekf_localizer node.

• Validation of timestamp difference between initial_pose and sensor pointcloud.
• Validation of distance difference between two initial poses used for linear interpolation.

Review Procedure(required)

Build with tier4/autoware_launch#211.

1. Immediately after the initial position estimation, make sure that the validation error occurs.
   Because the estimation of ekf_localizer starts from (0, 0, 0), but the coordinate values jump a lot after the initial position estimation. Therefore, a validation error often occurs after the initial position estimation.

2. Change validation params, then make sure that the validation error occurs or not.

Related PR(optional)

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[codecov]

Codecov Report

Merging #408 (7a5a4f3) into tier4/proposal (ca45e4a) will decrease coverage by 10.04%.
The diff coverage is 0.00%.

@@                Coverage Diff                 @@
##           tier4/proposal    #408       +/-   ##
==================================================
- Coverage           10.04%   0.00%   -10.05%     
==================================================
  Files                 705       7      -698     
  Lines               49295     489    -48806     
  Branches             6245       0     -6245     
==================================================
- Hits                 4952       0     -4952     
+ Misses              40285     489    -39796     
+ Partials             4058       0     -4058     

Impacted Files	Coverage Δ
...include/ndt_scan_matcher/ndt_scan_matcher_core.hpp	0.00% <ø> (ø)
...ion/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp	0.00% <0.00%> (ø)
.../freespace_planning_algorithms/src/reeds_shepp.cpp
...r_velocity_planner/src/utilization/interpolate.cpp
...e_filter/approximate_downsample_filter_nodelet.cpp
...on/tensorrt_yolo/lib/include/yolo_layer_plugin.hpp
...oware_auto_geometry/test/src/test_hull_pockets.cpp
perception/tensorrt_yolo/src/nodelet.cpp
...ehicle/raw_vehicle_cmd_converter/src/brake_map.cpp
...vehicle_model/vehicle_model_bicycle_kinematics.cpp
... and 690 more

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[yukkysaito]

The code itself looks good.

[yukkysaito]

@taikitanaka3 It's mixed up with Japanese, is that the intention?

[taikitanaka3]

@yukkysaito

It's mixed up with Japanese

which part is mixed up?

[YamatoAndo]

@yukkysaito Could you please answer?

[yukkysaito]

I wonder what it is... I remember commenting on some readme that had Japanese mixed up in it, but it might be a different PR.