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Rewrite logic in filter_test to improve flaky test

Nikolai Morin requested to merge nikolai.morin/AutowareAuto:fix_ray_ground_classifier_nodes_test into master

This is for #688 (comment 466248232)

I can't positively say this isn't flaky anymore, but I can say that the code was weird. E.g. the whole thing that checks that exactly two point clouds arrived was inside of a "retry loop" that would publish the point clouds again, but not clear the already-received point clouds.

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