fix(occupancy_grid_map_outlier_filter): add intensity field

[badai-nguyen]

Description

• To add intensity field for occupancy_grid_map_outlier_filter to solve the issue https://github.com/autowarefoundation/autoware.universe/issues/6785
• This PR will avoid fixed pointcloud type like pcl::PointXYZ or pcl::PointXYZI.
• Almost of all calculations are replaced and done directly in Pointcloud2 except kd_tree_->radiusSearch. So that the pointcloud type will be coppied through the node by reference point_step of input topic so that the pointcloud type which is processed and output depends and is the same as input pointcloud type.

Related links

• TIER IV INTERNAL LINK

• Releated PR: https://github.com/autowarefoundation/autoware.universe/pull/6791

Tests performed

Confirmed by logging_simulator that the intensity is added into the current empty padding fiedl (offset 12)

• Testing on the sample rosbag shows the processing time isn't affected much, even seems get slightly faster.

Before	After

• Here is testing result when pcl::PointXYZ pointcloud type is input into the node. It shows that the node also work well with PointXYZ type input

Notes for reviewers

Interface changes

Effects on system behavior

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