feat(mission_planner): add mrm reroute

[purewater0901]

Description

Add rerouting functions for MRM. This enables autoware to generate a new route when it is in a danger.

Related links

Tests performed

Planning Simulator

Notes for reviewers

Interface changes

There are no interface changes.

Effects on system behavior

No effects on system behavior unless the ego vehicle requires to generate a new path in a mrm state

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

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +0.96 🎉

Comparison is base (712c11c) 14.11% compared to head (ec8961a) 15.07%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3821      +/-   ##
==========================================
+ Coverage   14.11%   15.07%   +0.96%     
==========================================
  Files        1438     1332     -106     
  Lines      101526    95013    -6513     
  Branches    27045    27045              
==========================================
- Hits        14328    14326       -2     
+ Misses      71513    65001    -6512     
- Partials    15685    15686       +1     

Flag	Coverage Δ		*Carryforward flag
differential	13.67% <0.00%> (?)
total	15.10% <ø> (+0.98%)	⬆️	Carriedforward from 96d22a6

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

Impacted Files	Coverage Δ
...on_planner/src/mission_planner/mission_planner.cpp	0.00% <0.00%> (ø)

... and 109 files with indirect coverage changes

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[kosuke55]

LGTM