Split launch file into pipelines to make them re-usable
Description
In Autoware.ai we had launch files that are split into different pipelines: localization.launch, perception.launch. This means that these launch files can be reused across various demos. For example, the localisation configuration should be the same between cargo odd and parking odd but the planning launch file can be significantly different.
This would be good to have in Autoware.auto as well:
- This could facilitate better maintenance: if the parameter of a localisation demo change, we can change it in one place instead of changing it in all the different odd launch files
- This could improve configurability of autoware. For example, the perception pipeline can be very different depending on the hardware you have. If the entire pipeline can be swapped in and out of demos by just pointing to a different launch file, the user experience can be improved.
Expected behavior
Separate launch file for each of the pipelines: Localisation, mapping, perception and planning.
Each ODD and DEMO launch files includes the sub launch files of the pipelines.
Definition of Done
TBD