feat(behavior_path_planner): update pull_over module

[kosuke55]

Description

Updated pull_over_module. Added the following features

• goal search. find free space for parking using occupancy grid.

goal_search-2022-06-17_14.01.17.mp4

• multiple parking method considering how large is the space
  • shift parking

pull_over_shift-2022-06-22_10.50.46.mp4

• arc forward parking

pull_over_arc_forward-2022-06-22_10.54.39.mp4

• arc backward parking

pull_over_back-2022-06-20_12.40.09.1.mp4

• wait until space in available

pull_over_no_space-2022-06-20_12.37.03.mp4

Related links

Tests performed

psim, scenario test, real vehicle.

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[yukkysaito]

Great. I'd like to experiment in test fields before merge.

[kosuke55]

Merge #901 first.

[yukkysaito]

PR is too big. Can you separate this for utils?

[kosuke55]

(WIP) separate this PR to

• feat(tier4_autoware_utils): add geometry utils #1257
• feat(behavior_path_planner): add occupancy_grid_based_collision_detector #1259
• feat(behavior_path_planner): add geometric_parallel_parking #1260
• feat(planning): pass through for reverse driving #1278
• feat(lane_departure_checker): support path_with_lane_id #1279
• feat(ad_service_state_monitor): support modified goal #1280

this PR needs ↓ for work

• feat(trajectory_follower): add min_prediction_length to mpc #1171
• fix(trajectory_follower_nodes): change control running order to keep stopped state #1252

[codecov]

Codecov Report

Merging #873 (749f7a0) into main (e228bda) will decrease coverage by 0.10%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #873      +/-   ##
========================================
- Coverage   9.50%   9.40%   -0.11%     
========================================
  Files       1095    1097       +2     
  Lines      75760   76856    +1096     
  Branches   16463   17425     +962     
========================================
+ Hits        7204    7228      +24     
- Misses     61961   62924     +963     
- Partials    6595    6704     +109     

Flag	Coverage Δ		*Carryforward flag
differential	2.99% <0.00%> (?)
total	9.49% <0.00%> (ø)		Carriedforward from 80a54ea

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

Impacted Files	Coverage Δ
map/lanelet2_extension/lib/utilities.cpp	10.70% <0.00%> (+1.80%)	⬆️
...lanner/scene_module/pull_over/pull_over_module.hpp	0.00% <0.00%> (ø)
..._planner/scene_module/pull_over/pull_over_path.hpp	0.00% <0.00%> (ø)
...th_planner/scene_module/scene_module_interface.hpp	0.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.34% <0.00%> (+0.09%)	⬆️
...er/src/scene_module/pull_over/pull_over_module.cpp	0.00% <0.00%> (ø)
...r_path_planner/src/scene_module/pull_over/util.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	1.04% <0.00%> (-0.07%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
... and 9 more

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[kosuke55]

@yukkysaito @tkimura4
All separated PR has been merged so squashed this PR.

[yukkysaito]

LGTM