feat(behavior_path_planner): behavior path planner parameter server

[zulfaqar-azmi-t4]

Description

Whether we want the debug marker but forgot to enable them in param, or we don't want them but forgot to disable, it is time consuming to terminate autoware and edit and re-run autoware.

Therefore, this PR aims to use rclcpp::Param to enable the publish_debug_marker. Currrently only Avoidance and Lane Change are supported.

Related links

Tests performed

1. Ensure publish debug marker is set to false.
2. Run the PSIM.
3. Place ego starting position and goal. Goal must be on the adjacent lane to simulate lane change process.
4. Place an object on the target lane.
5. If ego is within object vicinity and there is potential of collision via predicted path comparison, no path appears. Marker will also be shown together.
6. On the separate terminal, source autoware folder
7. run the following command. The debug marker should turned off.

For lane change module

ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner lane_change.publish_debug_marker true

evidence.mp4

For avoidance module

ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner avoidance.publish_debug_marker true

evidence2.mp4

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[codecov]

Codecov Report

Merging #1152 (93539d5) into main (2869aea) will decrease coverage by 0.03%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1152      +/-   ##
==========================================
- Coverage   10.27%   10.23%   -0.04%     
==========================================
  Files        1204     1202       -2     
  Lines       86878    87257     +379     
  Branches    20054    20450     +396     
==========================================
+ Hits         8925     8931       +6     
- Misses      68656    68970     +314     
- Partials     9297     9356      +59     

Flag	Coverage Δ		*Carryforward flag
differential	1.26% <0.00%> (?)
total	10.28% <0.00%> (+0.02%)	⬆️	Carriedforward from ba34571

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

Impacted Files	Coverage Δ
...havior_path_planner/behavior_path_planner_node.hpp	0.00% <0.00%> (ø)
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <ø> (ø)
...er/scene_module/lane_change/lane_change_module.hpp	0.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.33% <0.00%> (+0.10%)	⬆️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
perception/tensorrt_yolo/src/nodelet.cpp	0.00% <0.00%> (ø)
perception/lidar_centerpoint/src/node.cpp	0.00% <0.00%> (ø)
perception/tensorrt_yolo/lib/src/trt_yolo.cpp	0.00% <0.00%> (ø)
...erception/tensorrt_yolo/lib/include/calibrator.hpp	0.00% <0.00%> (ø)
... and 42 more

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[satoshi-ota]

LGTM 👍