feat(tier4_planning_rviz_plugin): add offset from baselink param

[TakaHoribe]

Description

Add param for offset_from_baselink in the footprint visualization.

The aim is to visualize the difference in footprint when following different coordinate systems for a trajectory.
This analysis is required in path planning, e.g. the obstacle_avoidance_planner has the same parameter that sets the offset length from baselink for the path optimization algorithm.

When the trajectory is followed in the baselink the footprint is shown as the yellow polygon, and vehicle center coodrinate makes the red one.

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[codecov]

Codecov Report

Base: 10.48% // Head: 10.47% // Decreases project coverage by -0.00% ⚠️

Coverage data is based on head (2b62c1f) compared to base (79fadf8).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2384      +/-   ##
==========================================
- Coverage   10.48%   10.47%   -0.01%     
==========================================
  Files        1248     1248              
  Lines       91218    91271      +53     
  Branches    21012    21012              
==========================================
  Hits         9565     9565              
- Misses      71466    71519      +53     
  Partials    10187    10187              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.46% <0.00%> (ø)		Carriedforward from 79fadf8

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

Impacted Files	Coverage Δ
...iz_plugin/include/trajectory_footprint/display.hpp	0.00% <ø> (ø)
...g_rviz_plugin/src/trajectory_footprint/display.cpp	0.00% <0.00%> (ø)
.../behavior_path_planner/src/turn_signal_decider.cpp	35.93% <0.00%> (ø)

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[yukkysaito]

Why is this visualization necessary?

[TakaHoribe]

@yukkysaito I update the docs for the purpose

The aim is to visualize the difference in footprint when following different coordinate systems for a trajectory.
This analysis is required in path planning, e.g. the obstacle_avoidance_planner has the same parameter that sets the offset length from baselink for the path optimization algorithm.

[yukkysaito]

LGTM

[takayuki5168]

The aim is to visualize the difference in footprint when following different coordinate systems for a trajectory.
This analysis is required in path planning, e.g. the obstacle_avoidance_planner has the same parameter that sets the offset length from baselink for the path optimization algorithm.

Just memo.
Footprints with offset_from_baselink ≒ 0 are kinematically infieasible, and the car cannot follow the footprints.
Obstacle avoidance planner solves this infeasiblity problem with optimization.