feat(behavior_path_planner): run avoidance and pull out simultaneously

[kosuke55]

Description

run pull_out and avoidance simultaneously.

back -> shift pull out + avoidance

pull_out_avoidance-2023-04-20_20.48.19.mp4

pull_out_avoidance-2023-04-20_20.49.23.mp4

back -> geometric pull out + avoidance

pull_out_avoidance-2023-04-20_20.52.44.mp4

Related links

#3223

merge after #3480

autowarefoundation/autoware_launch#321

Tests performed

psim
tier4 internal scenario test 1323/1330

Notes for reviewers

Interface changes

no

Effects on system behavior

can run avoidance and pull out simultaneously

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (b77bbf8) 14.05% compared to head (df86783) 14.05%.

❗ Current head df86783 differs from pull request most recent head c49d0d2. Consider uploading reports for the commit c49d0d2 to get more accurate results

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3481   +/-   ##
=======================================
  Coverage   14.05%   14.05%           
=======================================
  Files        1397     1397           
  Lines       98031    98038    +7     
  Branches    29105    29113    +8     
=======================================
+ Hits        13776    13784    +8     
+ Misses      69590    69588    -2     
- Partials    14665    14666    +1     

Flag	Coverage Δ		*Carryforward flag
differential	15.15% <0.00%> (?)
total	13.72% <ø> (-0.33%)	⬇️	Carriedforward from f2b7687

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

Impacted Files	Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp	3.35% <0.00%> (-0.01%)	⬇️
...nner/src/scene_module/pull_out/pull_out_module.cpp	6.02% <0.00%> (-0.12%)	⬇️

... and 10 files with indirect coverage changes

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[satoshi-ota]

@kosuke55 I think we should check the pull out + avoidance maneuver with RTC MANUAL (NOT AUTO) mode, too. Could you do that?

[kosuke55]

merge #3491 first

[kosuke55]

@satoshi-ota
Thanks for your support, I put the video of rtc in the description,

-> hmm, the video is missing.
todo: I will upload it again

[kosuke55]

will run evaluator
->
tier4 internal scenario test 1323/1330