feat(run_out): maintain run out stop wall

[danielsanchezaran]

Description

When the run_out module outputs a stop point, it often causes a deceleration on the ego vehicle, but because the ego vehicle decelerates, it often happens that the initial collision target object is no longer detected as a collision candidate (because the ego vehicle slowed down and now the predicted collision using the obstacle's speed is no longer detected), which leads to the stop point promptly disappearing which can be somewhat unsafe.

For said reasons, it is probably best to maintain the stop point/stop wall of the run out module for a certain time, every time one is issued. This PR introduces that feature.

A parameter called "keep_stop_point_time" (default 1 second) is used to customize how long the stop wall will remain.

Example (with keep_stop_point_time set to 10 seconds):

cap-.2024-04-03-16-09-44.mp4

Related links

Ticket: TIER IV INTERNAL LINK

Tests performed

PSim
Evaluator tests: TIER IV's INTERNAL LINK -> No degradation

Notes for reviewers

Requires Launch changes: autowarefoundation/autoware_launch#944

Interface changes

Effects on system behavior

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[codecov]

Codecov Report

Attention: Patch coverage is 26.92308% with 19 lines in your changes are missing coverage. Please review.

Project coverage is 14.94%. Comparing base (f97cdc0) to head (f5ef704).
Report is 9 commits behind head on main.

Files	Patch %	Lines
...ing/behavior_velocity_run_out_module/src/scene.cpp	28.00%	12 Missing and 6 partials ⚠️
...g/behavior_velocity_run_out_module/src/manager.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6732      +/-   ##
==========================================
- Coverage   14.94%   14.94%   -0.01%     
==========================================
  Files        1943     1943              
  Lines      133963   133984      +21     
  Branches    39849    39861      +12     
==========================================
+ Hits        20022    20025       +3     
- Misses      91657    91669      +12     
- Partials    22284    22290       +6     

Flag	Coverage Δ		*Carryforward flag
differential	18.02% <26.92%> (?)
total	14.94% <ø> (-0.01%)	⬇️	Carriedforward from f97cdc0

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[kosuke55]

LGTM!