feat(mission_planner): refine goal pose with parameter and add config file

[ismetatabay]

Description

This PR adds config file to mission_planner and parameter for refining goal pose in order to skip goal validation step. If added parameter is set to true, then given goal is refined according to the closest lane orientation.

autoware_launch PR (must be merged with this PR): autowarefoundation/autoware_launch#225

Tests performed

2023-01-16.16-19-02.mp4

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[codecov]

Codecov Report

Patch coverage: 3.12% and project coverage change: -0.39 ⚠️

Comparison is base (8814cca) 11.93% compared to head (e4c3adc) 11.55%.

❗ Current head e4c3adc differs from pull request most recent head f7187fc. Consider uploading reports for the commit f7187fc to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2603      +/-   ##
==========================================
- Coverage   11.93%   11.55%   -0.39%     
==========================================
  Files        1321     1314       -7     
  Lines       91855    92803     +948     
  Branches    24467    24999     +532     
==========================================
- Hits        10965    10724     -241     
- Misses      69529    70813    +1284     
+ Partials    11361    11266      -95     

Flag	Coverage Δ		*Carryforward flag
differential	20.20% <3.12%> (?)
total	11.53% <ø> (-0.41%)	⬇️	Carriedforward from 572e490

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...planner/src/lanelet2_plugins/utility_functions.cpp	20.45% <0.00%> (-8.58%)	⬇️
...n_planner/src/lanelet2_plugins/default_planner.cpp	23.00% <5.26%> (-1.60%)	⬇️
...vehicle_model/vehicle_model_bicycle_kinematics.cpp	52.17% <0.00%> (-39.50%)	⬇️
...lude/obstacle_avoidance_planner/common_structs.hpp	22.22% <0.00%> (-26.35%)	⬇️
...terpolation/src/spline_interpolation_points_2d.cpp	35.05% <0.00%> (-15.45%)	⬇️
planning/obstacle_avoidance_planner/src/node.cpp	0.11% <0.00%> (-13.47%)	⬇️
common/osqp_interface/src/osqp_interface.cpp	36.84% <0.00%> (-13.16%)	⬇️
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	32.79% <0.00%> (-10.99%)	⬇️
...nner/src/vehicle_model/vehicle_model_interface.cpp	75.00% <0.00%> (-10.72%)	⬇️
...clude/obstacle_avoidance_planner/mpt_optimizer.hpp	80.00% <0.00%> (-4.62%)	⬇️
... and 128 more

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[ismetatabay]

@takayuki5168 Hi, sorry for late. I also added config file for mission planner . Can you check it?

[takayuki5168]

@ismetatabay Thank you for the fix. I left some additional comments but give you approval beforehand.

[ismetatabay]

@takayuki5168 thanks for the review, i updated the branch with your suggestions 👍 .

[takayuki5168]

LGTM