feat(ndt_scan_matcher): zero mutex blocking for ndt map update

[anhnv3991]

Description

• In map_update_module, when assigning the ndt_ptr_ to the secondary_ndt_ptr_, the old NDT pointed by ndt_ptr_ is destroyed. The cost of the destructor is significant within the mutex lock, thus lengthen the locking duration.
• This PR adds a dummy pointer to enable the destructor to be called outside the mutex lock, thus reduces the locking duration to nearly zero.

Tests performed

• rosbag: v1.2.0_medium.zip
• map: https://tier4.github.io/AWSIM/GettingStarted/QuickStartDemo/#launching-autoware
• The map is divided by MapIV's point cloud divider
• Add code (lines between comments) to measure the locking duration in ndt map update module as follows

    ...    
    ndt_ptr_mutex_->lock();
    // Record the begining of locking mutex
    const auto exe_start_time = std::chrono::system_clock::now();
    // End of adding
    auto dummy_ptr = ndt_ptr_;
    ...
    ndt_ptr_mutex_->unlock();

    // Record the end of locking mutex
    const auto exe_end_time = std::chrono::system_clock::now();
    const auto duration_micro_sec =
      std::chrono::duration_cast<std::chrono::microseconds>(exe_end_time - exe_start_time).count();
    const auto exe_time = static_cast<double>(duration_micro_sec) / 1000.0;
    // Output the locking duration in milliseconds
    RCLCPP_INFO(logger_, "Time duration for locking: %lf [ms]", exe_time);
    // End of adding

• On terminal 1, launch autoware's logging simulator: ros2 launch autoware_launch logging_simulator.launch.xml \ map_path:=~/Downloads/nishishinjuku_autoware_map_divided \ vehicle_model:=sample_vehicle \ sensor_model:=awsim_sensor_kit
• On terminal 2, replay the rosbag ros2 bag play ${ROSBAG_PATH} --rate 1.0 \ --clock 200
• The terminal 1 should output the locking duration around 9 - 20 milliseconds on the old code, and around 0.05 milliseconds on this PR. (Tested on Intel Core i9-13900K, 64GB DDR4 2333MHz)

Effects on system behavior

None

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[SakodaShintaro]

Thank you for the pull request.

The terminal 1 should output the locking duration around 9 - 20 milliseconds on the old code, and around 0.05 milliseconds on this PR. (Tested on Intel Core i9-13900K, 64GB DDR4 2333MHz)

A similar improvement was confirmed in my environment.
Great Work!

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 1 lines in your changes are missing coverage. Please review.

Project coverage is 14.72%. Comparing base (4b784b4) to head (ecaa879).
Report is 2 commits behind head on main.

Files	Patch %	Lines
...ization/ndt_scan_matcher/src/map_update_module.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6480      +/-   ##
==========================================
- Coverage   14.72%   14.72%   -0.01%     
==========================================
  Files        1900     1900              
  Lines      130361   130362       +1     
  Branches    38381    38381              
==========================================
  Hits        19198    19198              
- Misses      89647    89648       +1     
  Partials    21516    21516              

Flag	Coverage Δ		*Carryforward flag
differential	3.65% <0.00%> (?)
total	14.72% <ø> (ø)		Carriedforward from 4b784b4

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