feat(xx1_gen2): update XX1 gen2 sensor configurations

[KYabuuchi]

Description

This is a PR for configuration changes for XX1 Gen2. It modifies the GNSS, LiDAR, and Radar settings for XX1 Gen2.

Note

Other sensor_models are not affected. 👌

Changes to LiDAR

1. In lidar_gen2.yaml , the max_range values have been updated, and unnecessary parameters have been removed:

TIER IV INTERNAL LINK

lidar name	updated max range
top	300m
front_left	80m
front_right	80m
side_left	10m
side_right	10m

2. Updated lidar.launch.py to set the return_mode to Dual by default.
   All LiDARs will operate in Dual (Strongest + Last) mode.

Changes to Radar

1. Modified radar.launch.xml to change the topic remapping about twist (twist) and kinematic_state (odometry).

(It was originally remapped on the wrong topic. )
Originally some topics were accidentally contaminated.
To resolve this issue, I added <group> to separate the scopes and ensure the correct topics are passed.

Caution

• continental_launch_all_hw.xml requires TwistWithCovarianceStamped as the odometry_input. 🫠
• radar_tracks_msgs_converter.launch.xml requires Odometry as input/odometry. 🫠

Changes to GNSS

1. Added septentrio_heading_converter.py.
   This scripts converts the atteuler (attitude in Euler angles) topic output by septentrio_driver to autoware_orientation.
   TIER IV INTERNAL LINK
   The autoware_orientation topic is required by gnss_poser to specify GNSS orientation.

2. Removed unnecessary entries from gnss.launch.xml

• Deleted entries about the u-blox GNSS.
• Added septentrio_heading_converter.py.

3. Updated mosaic_x5_rover.param.yaml

• Configured to output attitude topic.
• Adjusted the heading offset to accommodate the antenna configuration in XX1 Gen2. TIER IV INTERNAL LINK

[shmpwk]

Wonderful! Please add type hinting for the python script.

miss

[KYabuuchi]

@shmpwk Hi! I added type hint to python script in 533a502

[KYabuuchi]

Important

When I verified this PR in the actual vehicle, I realized that further modifications to radar.launch.xml were necessary. 🙇
I have implemented the additional changes in ca1594c, and updated the PR description accordingly.

[shmpwk]

LGTM