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refactor(perception): migrate callers to generated CDR messages - #4734

Draft
TomCC7 wants to merge 15 commits into
cc/fix/cdr-tf-nanosecond-bufferfrom
cc/feat/cdr-unit-perception
Draft

TomCC7 wants to merge 15 commits into
cc/fix/cdr-tf-nanosecond-bufferfrom
cc/feat/cdr-unit-perception