feat: migrating pointcloud types

[knzo25]

Description

This PR migrates the point types in autoware as per the discussions in the S/P WG. *Note1: the nebula driver is already compatible with this new format with velodyne_points and pandar_points *Note2: only the the nodes needed in sensing and perception were tested. The components in the sensing directory that are actually used in localization were not tested

Related links

WG minutes: https://github.com/orgs/autowarefoundation/discussions/3533

Other more recent internal discussions: TIER IV INTERNAL LINK TIER IV INTERNAL LINK

Tests performed

• Run autoware in the taxi and the output of centerpoint

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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