feat(avoidance): keep stopping until all shift lines are registered

[satoshi-ota]

Description

🤖[deprecated] Generated by Copilot at abf7691

This pull request adds a feature to the AvoidanceModule that allows the vehicle to request approval from the RTC for the avoidance maneuver based on a configurable policy. The policy can be set to either shift_line or maneuver in the avoidance.param.yaml file.

Please reveiw following PR at first:
autowarefoundation/autoware_launch#699

---

Previously, avoidance module made rtc requests for each shift line. Then, operator had to approve several times to avoid object and return original lane during driving.

In this PR, I added new option in order to execute avoidance maneuver by only once approval manupulation. If the parameter policy.approval is set to maneuver, the module makes requests per avoidance maneuver (avoid + return).

      policy:
        # policy for rtc request. select "shift_line" or "maneuver".
        # "shift_line": request approval for each shift line.
        # "maneuver": request approval for avoidance maneuver (avoid + return).
        approval: "shift_line"

policy.approval: shift_line

simplescreenrecorder-2023-11-24_09.02.53.mp4

policy.approval: maneuver

simplescreenrecorder-2023-11-24_09.05.38.mp4

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 1376 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (f4f47b8) 10.29%.
Report is 128 commits behind head on main.

Files	Patch %	Lines
...anner/src/utils/avoidance/shift_line_generator.cpp	13.19%	435 Missing and 65 partials ⚠️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	3.75%	195 Missing and 10 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.cpp	0.58%	168 Missing and 2 partials ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	10.48%	111 Missing and 17 partials ⚠️
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	1.56%	63 Missing ⚠️
..._path_planner/src/marker_utils/avoidance/debug.cpp	0.00%	61 Missing ⚠️
...cene_module/start_planner/start_planner_module.cpp	8.47%	54 Missing ⚠️
...th_planner/src/scene_module/lane_change/normal.cpp	0.00%	28 Missing ⚠️
...ath_planner/src/scene_module/avoidance/manager.cpp	24.24%	0 Missing and 25 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.hpp	9.52%	15 Missing and 4 partials ⚠️
... and 25 more

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5658       +/-   ##
===========================================
- Coverage   15.32%   10.29%    -5.03%     
===========================================
  Files        1721       84     -1637     
  Lines      118559    11403   -107156     
  Branches    37995     6397    -31598     
===========================================
- Hits        18169     1174    -16995     
+ Misses      79657     7985    -71672     
+ Partials    20733     2244    -18489     

Flag	Coverage Δ
differential	10.29% <9.65%> (?)
total	?

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[rej55]

LGTM

[kyoichi-sugahara]

LGTM