Integrate NDT with a temporary line search solution.

Description

• For more details, see the issue which will be linked below. This MR uses the hacky line search implementation from !166 (closed), cleans things up and provides the necessary launch boiler plate to the AVP demo package.

Notes for Reviewer

• Please use this map for testing: https://github.com/lgsvl/autoware-data/tree/master/AutonomouStuff/data/map/pointcloud_map
  • Put the path in the map publisher's config file.
• I haven't deployed the map and set up the path logic in this MR to not conflict with !205 (merged).
• I have added the simulator and the rosbridge to the launch file.
• I haven't updated the rviz config file.

Instructions:

• Change the map path in the map_publisher.param.yaml.
• Launch the launch file.
• Start the simulator
• [optional] Kill the lgsvl_interface process to have ndt-only localization.

Checklist

• Documentation was updated

Closes #302 (closed)

/milestone %After AVP