feat(behavior_path_planner): run fixed_goal_planner with other modules simutaneously

[kosuke55]

Description

enable running goal_planner with other modules ONLY when goal is fixed.

goal_planner_avoidance-2023-04-28_18.25.09.mp4

TODO:
if goal is allowed modification, goal_planner (pull_over) can not be run with other modules.
we need to deal with this in the future.

goal_planner_avoidance_pull_over-2023-04-28_18.26.18.mp4

Related links

Tests performed

psim
wip tier4 internal scenario test

• beahvior path old archi https://evaluation.tier4.jp/evaluation/reports/9345fb71-57b0-55c7-9fc5-63e2a526ea18/?project_id=prd_jt 1325/1350
• behavior path new archi https://evaluation.tier4.jp/evaluation/reports/603cb665-4cd0-52fc-8144-8f1a5dcbb1d3/?project_id=prd_jt 1326/1350

Notes for reviewers

Interface changes

no

Effects on system behavior

goal_planner can run with other modules simutaneously ONLY when the goal is fixed.

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[codecov]

Codecov Report

Patch coverage: 36.36% and project coverage change: +0.06 🎉

Comparison is base (eeaff15) 14.11% compared to head (c41a27e) 14.17%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3574      +/-   ##
==========================================
+ Coverage   14.11%   14.17%   +0.06%     
==========================================
  Files        1394     1397       +3     
  Lines       97800    98617     +817     
  Branches    28980    29610     +630     
==========================================
+ Hits        13801    13979     +178     
- Misses      69348    69774     +426     
- Partials    14651    14864     +213     

Flag	Coverage Δ		*Carryforward flag
differential	15.48% <36.36%> (?)
total	14.11% <ø> (-0.01%)	⬇️	Carriedforward from eeaff15

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

Impacted Files	Coverage Δ
.../scene_module/goal_planner/goal_planner_module.hpp	100.00% <ø> (ø)
.../utils/goal_planner/default_fixed_goal_planner.hpp	100.00% <ø> (+100.00%)	⬆️
.../scene_module/goal_planner/goal_planner_module.cpp	14.94% <12.50%> (+0.16%)	⬆️
.../utils/goal_planner/default_fixed_goal_planner.cpp	58.06% <40.00%> (+0.92%)	⬆️
...ner/utils/goal_planner/fixed_goal_planner_base.hpp	66.66% <50.00%> (ø)
...th_planner/scene_module/scene_module_interface.hpp	35.87% <100.00%> (+1.76%)	⬆️

... and 10 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
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[satoshi-ota]

@kosuke55 Could you fix build error and re-run evaluator?

[kosuke55]

@satoshi-ota
oh, thanks, update repos and rerun evaluator!

[satoshi-ota]

LGTM

[kosuke55]

blinkers problem will happen after merging this PR, @purewater0901 will check it.