Resolve Item 1 from "Align Sensor Topic and Frame Names and Namespaces with #324"

Resolves item 1 in #333 (closed).

Testing

Tested with the following pipeline (after following the instructions in the LGSVL Simulator page):

Terminal 1:

ade enter
/opt/lgsvl/simulator

Terminal 2:

ade enter
cd simulator_ws/src/ros2-web-bridge
source /opt/AutowareAuto/setup.bash
node bin/rosbridge.js

Terminal 3:

ade enter
cd AutowareAuto
colcon build --packages-up-to lgsvl_interface (to get changes from this MR)
source install/setup.bash
ros2 launch lgsvl_interface lgsvl.launch.py

Terminal 4:

ade enter
cd AutowareAuto
colcon build --packages-up-to lexus_rx_450h_description (to get changes from this MR)
source install/setup.bash
ros2 launch lexus_rx_450h_description lexus_rx_450h_visualisation.launch.py

At this point, close rviz2 launched from Terminal 4 because the configuration file won't be found (installation directory problem when not using /opt/AutowareAuto). Also run the simulation in the browser.

Terminal 5:

ade enter
source /opt/AutowareAuto/setup.bash
rviz2

Configure rviz2:

• Use base_link as global frame.
• Add RobotModel and set topic to /robot_description
• Add TF
• Add PointCloud2 from topic /lidar_front/points_raw and set to Squares
• Add PointCloud2 from topic /lidar_rear/points_raw and set to Squares (I also set Color Transformer to Solid Color)

Result:

No testing was done with any of the perception or localization stack nodes.