feat(behavior_path_planner): add goal planner

[kosuke55]

Description

Make pull_over execute when the vehicle is approaching the goal. (within minimum_request_length)

put goal in road

• 2D Goal Pose in road
  • modifyPathForSmoothGoalConnection (same as current lane following arrival path)
• 2D Rough Goal Pose in Road
  • pull over to the modified goal in road or road_shoulder with the select policy (e.g. parking left_side, right side)

check 2D Goal Pose and 2D Rough Goal Pose

goal_planner_fixed-2023-04-19_00.12.24.mp4

check planning to the fixed goal within minimum_request_length

goal_planner_fixed-2023-04-19_00.04.18.mp4

lane_change ->goal planner

goal_planner_fixed-2023-04-19_00.42.52.mp4

todo: need to execute lane_change and goal_planner wit new behavior path architecture to deal the situation the end of lane change is close to the goal. need

goal_planner_fixed-2023-04-19_00.44.25.mp4

put goal in road_shoulder: no change with this PR

• pull over the modified goal in road_shoulder with the select policy (e.g. parking left_side, right side)

Related links

#3223

Tests performed

psim
tier4 internal scenario test 1325/1330 -> 1325/1330

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Patch coverage: 26.08% and project coverage change: +0.33 🎉

Comparison is base (345315e) 13.72% compared to head (05cb70f) 14.06%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3454      +/-   ##
==========================================
+ Coverage   13.72%   14.06%   +0.33%     
==========================================
  Files        1395     1397       +2     
  Lines       97995    98024      +29     
  Branches    29096    29102       +6     
==========================================
+ Hits        13451    13784     +333     
+ Misses      70097    69574     -523     
- Partials    14447    14666     +219     

Flag	Coverage Δ		*Carryforward flag
differential	15.17% <26.08%> (?)
total	13.72% <ø> (+<0.01%)	⬆️	Carriedforward from 345315e

*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	100.00% <ø> (+25.00%)	⬆️
...ner/utils/pull_over/default_fixed_goal_planner.hpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	20.15% <0.00%> (-0.08%)	⬇️
...ty_planner/src/scene_module/intersection/debug.cpp	0.00% <ø> (ø)
..._planner/src/scene_module/intersection/manager.cpp	0.00% <ø> (ø)
...er/src/scene_module/pull_over/pull_over_module.cpp	16.95% <22.22%> (+7.68%)	⬆️
...src/utils/pull_over/default_fixed_goal_planner.cpp	30.76% <30.76%> (ø)

... and 13 files with indirect coverage changes

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.

[kosuke55]

(plan to rename pull_over to goal_planner in other PR not to mix diff)

[rej55]

LGTM