feat(traffic_light): depend on is_simulation for scenario simulator

[takayuki5168]

Description

This PR extends the feature to deal with the traffic signal depending on whether it's a simulation or not, implemented in the following PR.
#6468

Regarding the Autoware's planning behavior for the traffic signal, we have the following three requirements.

• planning simulator
  • By default, the traffic signal topic is NOT published.
  • The ego does not want to stop at the traffic signal.
• scenario simulator
  • The traffic signal topic is always published.
  • The ego does NOT want to stop at the traffic signal where the color is not contained in the topic.
• real environment
  • The traffic signal topic is always published.
  • The ego wants to stop at the traffic signal where the color is not contained in the topic for safety in cases such that traffic light recognition is not working properly or the map is incorrect

The problem is that, even though the assumption that the traffic signal topic is always published is the same in the scenario simulator and the real environment, the expected Autoware behaviors are not the same.

In this PR, we introduce the new variable is_simulation in autoware_launch so that the Autoware will know that the current environment is the simulator or not, and the above problem can be fixed.

launch PR

• feat: add is_simulation variable in autoware.launch.xml autoware_launch#889

Tests performed

unit test
scenario test: https://evaluation.tier4.jp/evaluation/reports/e4aec1b1-abc6-5d28-9d63-ab7822b1f173?project_id=prd_jt

Effects on system behavior

The scenario tests will pass without designating all the traffic signal colors in the scenario files.

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[satoshi-ota]

unnecessary space

Suggested change

	// recognition is not working properly or the map is incorrect.
	// recognition is not working properly or the map is incorrect.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 3 lines in your changes are missing coverage. Please review.

Project coverage is 14.64%. Comparing base (209b672) to head (b755637).
Report is 14 commits behind head on main.

Files	Patch %	Lines
planning/behavior_velocity_planner/src/node.cpp	0.00%	0 Missing and 1 partial ⚠️
..._velocity_planner/test/src/test_node_interface.cpp	0.00%	0 Missing and 1 partial ⚠️
...havior_velocity_traffic_light_module/src/scene.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6498      +/-   ##
==========================================
- Coverage   14.64%   14.64%   -0.01%     
==========================================
  Files        1899     1899              
  Lines      130283   130279       -4     
  Branches    38311    38312       +1     
==========================================
- Hits        19082    19081       -1     
+ Misses      89785    89781       -4     
- Partials    21416    21417       +1     

Flag	Coverage Δ		*Carryforward flag
differential	11.46% <0.00%> (?)
total	14.64% <ø> (+<0.01%)	⬆️	Carriedforward from 209b672

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