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Get rid of message about missing intensity field

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

Previously, the console log would stay yellow after loading the PCD file containing the map because of a warning printed by pcl in some weird fashion. This fixes that by making it configurable whether to read a PointCloud<pcl::PointXYZ> or a PointCloud<pcl::PointXYZI>.

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