feat(map_loader)!: update loading path for multiple pcd files

[kminoda]

Description

Current Autoware with default argument assumes that the pointcloud files are stored under pointcloud.pcd directory as follows:

sample-map-rosbag
├── lanelet2_map.osm
├── pointcloud_map.pcd
│ ├── A.pcd
│ ├── B.pcd
│ ├── C.pcd
│ └── ...
├── map_projector_info.yaml
└── pointcloud_map_metadata.yaml

Since this is confusing for beginners, I would like to change the interface as follows. When specifying pointcloud_map_file as pointcloud_map,

1. if pointcloud_map + .pcd exists, load the file
2. if pointcloud_map exists as a directory, load the pcd files underneath

MUST BE MERGED WITH autowarefoundation/autoware_launch#678

Related links

None

Tests performed

1. Confirmed that the logging simulator launches with the following two kind of directory structures:

sample-map-rosbag
├── lanelet2_map.osm
├── pointcloud_map.pcd

sample-map-rosbag
├── lanelet2_map.osm
├── pointcloud_map.pcd
│ ├── A.pcd
│ ├── B.pcd
│ ├── C.pcd
│ └── ...
├── map_projector_info.yaml
└── pointcloud_map_metadata.yaml

2. Confirmed that the additional test passes.

Notes for reviewers

Interface changes

Effects on system behavior

None

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[codecov]

Codecov Report

Attention: 34 lines in your changes are missing coverage. Please review.

Comparison is base (6b0bbde) 14.79% compared to head (9b72ae8) 14.81%.
Report is 2 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5500      +/-   ##
==========================================
+ Coverage   14.79%   14.81%   +0.02%     
==========================================
  Files        1682     1683       +1     
  Lines      116742   116749       +7     
  Branches    36271    36295      +24     
==========================================
+ Hits        17276    17301      +25     
+ Misses      79959    79910      -49     
- Partials    19507    19538      +31     

Flag	Coverage Δ		*Carryforward flag
differential	27.70% <42.37%> (?)
total	14.80% <ø> (+<0.01%)	⬆️	Carriedforward from 6b0bbde

*This pull request uses carry forward flags. Click here to find out more.

Files	Coverage Δ
...figure_rviz_plugin/src/logging_level_configure.cpp	0.00% <ø> (ø)
map/map_loader/src/pointcloud_map_loader/utils.hpp	0.00% <ø> (ø)
...intcloud_map_loader/pointcloud_map_loader_node.cpp	2.00% <0.00%> (+0.30%)	⬆️
map/map_loader/src/pointcloud_map_loader/utils.cpp	56.36% <43.75%> (-5.18%)	⬇️
.../map_loader/test/test_append_path_or_pcd_files.cpp	45.00% <45.00%> (ø)

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