Changes

Update orin-cleanup.jenkinsfile

feat(platoon_msgs): add trailer articulation to PNCInfo

feat(perception_msgs): add LkaLane for the lane detection -> lateral control interface

The ego-lane centreline that lane_detection publishes on /lane_detection/lka_lane,
moved here so downstream can depend on perception_msgs instead of the whole
lane_detection package. Fields and constants are identical to the current
lane_detection/msg/LkaLane, so the wire layout is unchanged; only the type name
moves to perception_msgs/msg/LkaLane.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>