feat(behavior_path_palnner): update geometric parallel parking for pull_out module

[kosuke55]

Signed-off-by: kosuke55 kosuke.tnp@gmail.com

Description

This PR is the part of #1438.
Update geoemetric_parallel_parking for pull_out and update pull_over accordingly.
The behavior of pull_over will not change.

• add planDeparting which is the reverse of parking.
• make some variable parameters.
• refactoring
• change pull over max_steer_rad 40deg to 20deg(Some individuals are unable to steer 40deg when stopped.)
• fix lane_id of arc path. add road and shoulder lane ids to arc path.

Related links

part of #1438
merge #1571 first : done
launcher: tier4/autoware_launch#431

Tests performed

psim

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[codecov]

Codecov Report

Merging #1534 (8efee47) into main (43c01e1) will increase coverage by 0.00%.
The diff coverage is n/a.

❗ Current head 8efee47 differs from pull request most recent head c028e93. Consider uploading reports for the commit c028e93 to get more accurate results

@@           Coverage Diff            @@
##             main    #1534    +/-   ##
========================================
  Coverage   10.72%   10.72%            
========================================
  Files        1103     1103            
  Lines       78362    78408    +46     
  Branches    18647    18653     +6     
========================================
+ Hits         8405     8410     +5     
+ Misses      61176    61085    -91     
- Partials     8781     8913   +132     

Flag	Coverage Δ
total	10.71% <0.00%> (+<0.01%)	⬆️

Impacted Files	Coverage Δ
system/default_ad_api/src/interface.cpp	71.42% <0.00%> (ø)
common/osqp_interface/src/osqp_interface.cpp	34.35% <0.00%> (ø)
planning/route_handler/src/route_handler.cpp	0.00% <0.00%> (ø)
planning/rtc_interface/src/rtc_interface.cpp	0.00% <0.00%> (ø)
control/trajectory_follower/src/mpc_utils.cpp	58.25% <0.00%> (ø)
planning/behavior_velocity_planner/src/node.cpp	0.43% <0.00%> (ø)
common/motion_utils/src/marker/marker_helper.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	1.04% <0.00%> (ø)
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	0.25% <0.00%> (ø)
...nning/behavior_path_planner/src/path_utilities.cpp	0.00% <0.00%> (ø)
... and 84 more

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[yukkysaito]

@kosuke55 can you update readme?

[kosuke55]

@yukkysaito
yes, I updated README in
#1578 for pull_over
#1587 for pull_out

[yukkysaito]

LGTM
pls get approval by @TakaHoribe

[kosuke55]

@yukkysaito @TakaHoribe
Thanks, please check also launcher tier4/autoware_launch#431

[TakaHoribe]

LGTM. Memo: this PR enables the geometryc_parking in the pull_out module as well as the pull_over.