feat: insert inside area filter before clustering

[YoshiRi]

Description

slackの議論であったように、地図にエリアを設定してそのエリア内の低層点群を除去する機能をクラスタリングの直前で導入するPRです。

議論の結果Optionalということになったので一旦draftで設定します。

TODO

• 今はbase_link + 0.15mの高さ未満の物体のみをフィルタするような設定にしています。
• この高さの閾値はどの程度にするべきかはPRをいれる際に合意がほしいです。

関連PR：#1327

Related links

Tests performed

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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[yukkysaito]

LGTM

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