feat(behavior_path_planner): pull over support road_lane and right_hand_traffic

[kosuke55]

Description

enhance pull over module

• support road_lane

• execute the module depending on allow_goal_modification of route msg

• support right-hand traffic

  • select the policy with param (currently left_side and right_side)
  • but only support shit_pull_over and freespace_pull_over. not geometric_parallel_parking

• pull_over is executed when

  • allow_goal_modification is true
    • set 2D Rough Goal Pose with rviz. the shortcut key is r
  • putting goal in the shoulder_lane(temporary),

• shoulder lane left (same to previous behavior)
  

• road lane left
  

• shoulder lane right

• road lane right

• lane change -> pull_over

goal_planner-2023-04-14_02.51.34.mp4

🤖 Generated by Copilot at 6d1cb87

This pull request enhances the pull over behavior of the behavior path planner by adding a parameter for parking policy, which allows the vehicle to park on either the left or right side of the road. It also refactors and improves the logic for goal search, path planning, and crossing check for pull over scenarios. Additionally, it updates the route handler and the mission planner to support goal modification based on the route option. It also includes some minor code cleanup and debugging changes.

Related links

PullOver/Out limitation and development plan

tier4 internal link

autowarefoundation/autoware_launch#300

Tests performed

psim
tier4 internal sceneario test

• 152/152
  • pull_over 74/74
  • pull_out 78/78

Notes for reviewers

Interface changes

Effects on system behavior

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[codecov]

Codecov Report

Patch coverage: 11.90% and project coverage change: -0.09 ⚠️

Comparison is base (740754a) 13.25% compared to head (43ea020) 13.16%.

❗ Current head 43ea020 differs from pull request most recent head dc0d6a5. Consider uploading reports for the commit dc0d6a5 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3419      +/-   ##
==========================================
- Coverage   13.25%   13.16%   -0.09%     
==========================================
  Files        1384     1384              
  Lines       97016    99255    +2239     
  Branches    28212    29676    +1464     
==========================================
+ Hits        12858    13071     +213     
- Misses      70351    72185    +1834     
- Partials    13807    13999     +192     

Flag	Coverage Δ		*Carryforward flag
differential	9.82% <11.90%> (?)
total	13.27% <ø> (+0.02%)	⬆️	Carriedforward from eea27d9

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

Impacted Files	Coverage Δ
...lanner/scene_module/pull_over/pull_over_module.hpp	75.00% <ø> (ø)
...th_planner/utils/pull_over/geometric_pull_over.hpp	0.00% <ø> (ø)
...r_path_planner/utils/pull_over/shift_pull_over.hpp	0.00% <ø> (ø)
...nner/include/behavior_path_planner/utils/utils.hpp	100.00% <ø> (ø)
...ic_parallel_parking/geometric_parallel_parking.cpp	0.00% <0.00%> (ø)
...lanner/src/utils/pull_over/geometric_pull_over.cpp	22.72% <0.00%> (ø)
...path_planner/src/utils/pull_over/goal_searcher.cpp	2.27% <0.00%> (-0.09%)	⬇️
planning/behavior_path_planner/src/utils/utils.cpp	20.16% <0.00%> (+0.59%)	⬆️
...on_planner/src/mission_planner/mission_planner.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/pull_over/pull_over_module.cpp	7.96% <10.46%> (+0.57%)	⬆️
... and 4 more

... and 15 files with indirect coverage changes

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[TakaHoribe]

Confirmed it worked as expected.