fix(autoware_default_adapi): change subscribing steering factor topic…

… name for obstacle avoidance and lane changes (#9273)

feat(planning): add new steering factor topics for obstacle avoidance and lane changes

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

system/autoware_default_adapi/src/planning.cpp

@@ -89,8 +89,13 @@ PlanningNode::PlanningNode(const rclcpp::NodeOptions & options) : Node("planning
     "/planning/velocity_factors/motion_velocity_planner"};
 
   std::vector<std::string> steering_factor_topics = {
-    "/planning/steering_factor/avoidance", "/planning/steering_factor/intersection",
-    "/planning/steering_factor/lane_change", "/planning/steering_factor/start_planner",
+    "/planning/steering_factor/static_obstacle_avoidance",
+    "/planning/steering_factor/dynamic_obstacle_avoidance",
+    "/planning/steering_factor/avoidance_by_lane_change",
+    "/planning/steering_factor/intersection",
+    "/planning/steering_factor/lane_change_left",
+    "/planning/steering_factor/lane_change_right",
+    "/planning/steering_factor/start_planner",
     "/planning/steering_factor/goal_planner"};
 
   sub_velocity_factors_ =