fix(costmap_generator): use vehicle frame for lidar height thresholds

[maxime-clem]

Description

Fix how the lidar height min/max thresholds are used in the costmap_generator.
They were originally designed to be thresholds relative to the lidar frame. However, they are compared to points converted to the costmap frame (map by default).
Since the lidar frame is not easily available in the costmap_generator, the PR changes the parameters to represent thresholds in the vehicle frame (base_link by default) and correctly converts the thresholds to the costmap frame.

Launch PR to update the parameters: autowarefoundation/autoware_launch#1225

How was this PR tested?

Using the sample map which has a z value of around 19m.

• Run the planning simulation with perception/enable_object_recognition:=false.
• Set the ego pose inside the parking area.
• Visualize the costmap.
• Place a bus inside the costmap.
• Without this PR: obstacle points are not reflected in the costmap.
• With this PR: the costmap correctly reflects the obstacle points.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 5 lines in your changes missing coverage. Please review.

Project coverage is 29.28%. Comparing base (d187722) to head (5adbdc2).
Report is 11 commits behind head on main.

Files with missing lines	Patch %	Lines
...toware_costmap_generator/src/costmap_generator.cpp	0.00%	5 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9311      +/-   ##
==========================================
- Coverage   29.29%   29.28%   -0.01%     
==========================================
  Files        1334     1334              
  Lines      102789   102797       +8     
  Branches    39980    39980              
==========================================
+ Hits        30107    30108       +1     
- Misses      69816    69824       +8     
+ Partials     2866     2865       -1     

Flag	Coverage Δ		*Carryforward flag
differential	14.54% <0.00%> (?)
total	29.29% <ø> (+<0.01%)	⬆️	Carriedforward from 4f216b3

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