Exclude LiDAR occluded object on OccupancyGrid

[f0reachARR]

Description

Abstract

Partial fixes for #1193

Background

OccupancyGridSensor in simple_sensor_simulator takes detected objects from LidarSensor, but never uses it when filter_by_range is true.
This causes occluded objects (objects that were not detected) appeared in OccupancyGrid (explained in #1193).

Details

Filter objects using detected objects in getDetectedObjects method.

Before

After

As you see pictures, occluded object (tom, orange) emitted before this PR.

Reference

https://github.com/tier4/sim_evaluation_tools/issues/270

Destructive Changes

OccupancyGridSensor behavior was changed.
It emits only LiDAR detected (non occluded) objects instead of all objects in sensor range.

Known Limitations

As LiDAR origin passed to Raycaster is too low (Ego bottom), detected objects from LidarSensor contain some objects that should be occluded.
This can be observed in DetectionSensor output in #1193

[github-actions]

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[hakuturu583]

Code looks good, but this pull request will changes the sensor output.
I think it is destructive change, so please describe it with sample image in pull request description.

[f0reachARR]

I added two images to PR description. Thank you.