feat(planning_evaluator): add planning evaluator

[kyoichi-sugahara]

Related Issue(required)

Resolves #289

Description(required)

Add the planning_evaluator package which implements a node to calculate various planning metrics.

Review Procedure(required)

• run ros2 launch planning_evaluator planning_evaluator.launch.xml alongside Autoware.
• Metric values are publishes on topics /planning_evaluator/metrics/....
• Set an output_file in the parameters and when shutdown, the planning_evaluator node will write metrics to the file.

To check Obstacle_time_to_collision is calculated, you have to change the parameter dist_thr_m to around 10.
https://github.com/autowarefoundation/autoware.universe/pull/288/files#diff-1ad54c5e1a9f25da8c26f6eea0ff5fcf62de9c3b5441875d1e214e049f75b68eR30
Because Obstacle_time_to_collision is calculated only when the distance between ego and obstacle is smaller than dist_thr_m. If the condition is not satisfied, none is outputed.

Related PR(optional)

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PR Author should check the checkboxes below when creating the PR.

• Read commit-guidelines
• Assign PR to reviewer

If you are adding new package following items are required:

• Documentation with description of the package is available
• A sample launch file and parameter file are available if the package contains executable nodes

Checklist for the PR Reviewer

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• Commits are properly organized and messages are according to the guideline
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Post-Review Checklist for the PR Author

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• All open points are addressed and tracked via issues or tickets

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• Build and test for PR / clang-tidy-pr: NOT required to pass before the merge. It is up to the reviewer(s). Found false positives? See the [guidelines][clang-tidy-guidelines].
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[TakaHoribe]

@kyoichi-sugahara colcon test failed in my environment. Do you have any idea of its cause?

[TakaHoribe]

Test passes in the latest branch.

[codecov]

Codecov Report

Merging #288 (ab9e909) into tier4/proposal (95f047f) will increase coverage by 48.36%.
The diff coverage is 57.69%.

@@                 Coverage Diff                 @@
##           tier4/proposal     #288       +/-   ##
===================================================
+ Coverage            9.33%   57.69%   +48.36%     
===================================================
  Files                 690       13      -677     
  Lines               48510      617    -47893     
  Branches             5844      279     -5565     
===================================================
- Hits                 4529      356     -4173     
+ Misses              40209       76    -40133     
+ Partials             3772      185     -3587     

Impacted Files	Coverage Δ
.../include/planning_evaluator/metrics_calculator.hpp	0.00% <0.00%> (ø)
...g/planning_evaluator/src/motion_evaluator_node.cpp	0.00% <0.00%> (ø)
...planning_evaluator/src/planning_evaluator_node.cpp	32.96% <32.96%> (ø)
...ning_evaluator/include/planning_evaluator/stat.hpp	36.36% <36.36%> (ø)
...ng_evaluator/test/test_planning_evaluator_node.cpp	58.03% <58.03%> (ø)
...ator/include/planning_evaluator/metrics/metric.hpp	60.00% <60.00%> (ø)
...nning_evaluator/src/metrics/trajectory_metrics.cpp	75.36% <75.36%> (ø)
...anning_evaluator/src/metrics/stability_metrics.cpp	78.57% <78.57%> (ø)
...ning/planning_evaluator/src/metrics_calculator.cpp	82.53% <82.53%> (ø)
...anning_evaluator/src/metrics/deviation_metrics.cpp	85.71% <85.71%> (ø)
... and 693 more

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