feature/use common pointcloud container (autowarefoundation#147)

* add container argument

* load composable node to pointcloud_container

* fix autoware_launch

* enable multi-thread

* improve readability

launch/sensing_launch/launch/sensing.launch.xml

@@ -4,6 +4,8 @@
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="vehicle_param_file" description="path to the file of vehicle info yaml"/>
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
 
@@ -15,6 +17,8 @@
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
   </group>