feat(behavior_path_planner): use object recognition for pull_over

[kosuke55]

Description

Use object recognition for pull_over
This is a solution to the problem of not being able to park on the shoulder due to vegetation.

• Both occupancy gird and object recognition can be used. Both can be optionally enabled.

  • use_occupancy_grid
  • use_object_recognition

• The visualization of the division of the goal search area was stopped to reduce the computational complexity.

pull_over_object_recognition-2022-09-05_12.49.30.mp4

Related links

Tests performed

• psim
• lsim (TIER IV internal rosbag)

The original goal is also repositioned.

https://console.data-search.tier4.jp/projects/prd_jt/environments/9ba5b2bc-9b8e-438a-aba6-342d19c876a5/rosbags/7d31ef3c-5cae-4728-9403-975f911c7ee9

2022-09-02-13-08-16.mp4

https://console.data-search.tier4.jp/projects/prd_jt/environments/9ba5b2bc-9b8e-438a-aba6-342d19c876a5/rosbags/85b8a4ee-f2b9-4312-814c-786e98b5ce7e

2022-09-02-18-20-21.mp4

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[codecov]

Codecov Report

Merging #1777 (1dcd4c3) into main (a9b9722) will decrease coverage by 0.04%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1777      +/-   ##
==========================================
- Coverage   10.40%   10.35%   -0.05%     
==========================================
  Files        1218     1218              
  Lines       87306    87682     +376     
  Branches    20227    20576     +349     
==========================================
+ Hits         9081     9082       +1     
- Misses      68771    69128     +357     
- Partials     9454     9472      +18     

Flag	Coverage Δ		*Carryforward flag
differential	1.28% <0.00%> (?)
total	10.38% <0.00%> (ø)		Carriedforward from d2c3016

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

Impacted Files	Coverage Δ
...lanner/scene_module/pull_over/pull_over_module.hpp	0.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.35% <0.00%> (+0.14%)	⬆️
...er/src/scene_module/pull_over/pull_over_module.cpp	0.00% <0.00%> (ø)

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[kosuke55]

@shmpwk
Thanks for your review.
Updated docs and removed unnecessary processing. It does not affect the behavior.
ac7b882
d2c3016

[kosuke55]

@shmpwk
Updated warning message and throw exception when search_priority is invalid.
1dcd4c3