Slow clustering will cause robot to react slowly to obstacles

[yaukaizhi]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

Robot will only stop/avoid if it detects objects using clustering, which is slow. We should try to use points for obstacles instead of clustered objects

Expected behavior

able to stop/avoid when detected obstacles

Actual behavior

stops and reacts slow

Steps to reproduce

launch clustering

Versions

No response

Possible causes

No response

Additional context

No response

[yaukaizhi]

solved by setting <arg name="use_pointcloud_map" default="false" in universe/autoware.universe/launch/tier4_perception_launch/launch/perception.launch.xml