feat: avoidance approval per maneuver (autowarefoundation#563)

avoidance approval per maneuver

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -235,7 +235,7 @@
         # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver".
         # "per_shift_line": request approval for each shift line.
         # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return).
-        make_approval_request: "per_shift_line"
+        make_approval_request: "per_avoidance_maneuver"
         # policy for vehicle slow down behavior. select "best_effort" or "reliable".
         # "best_effort": slow down deceleration & jerk are limited by constraints.
         #                but there is a possibility that the vehicle can't stop in front of the vehicle.