fix(deviation_estimation_tools): fix parameter handling

[kminoda]

Description

Fix parameter handling.

• Change the topic and parameter input/output (use raw sensor data instead of intermediate-sensor data)
• Additionally, I modified some part to make the tool compatible with older version of Autoware

Related links

Tests performed

Checked the tool output both in older and the latest version of Autoware.

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• [x] I've confirmed the contribution guidelines.
• [x] The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• [ ] The PR follows the pull request guidelines.
• [ ] The PR has been properly tested.
• [ ] The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• [ ] There are no open discussions or they are tracked via tickets.
• [ ] The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.