feat(behavior_path_planner): add new manager independent from behavior tree

[satoshi-ota]

Description

⬇️ This must merge before this PR.
autowarefoundation/autoware_launch#218

In this PR, I add new manager that doesn't depend on behavior tree library. The manager is implemented based on the new architecture on this discussion.

NOTE

• Conventional manager that based on BT library still remains, and that manager is activated by default.
• Change manager in CMakelist.
• The new manager is not compatible with the old one. We have to add the new scene modules that support new manager.
• In this PR, there is no scene modules that support new manager. The new manager can only execute lane following.
• The new scene modules will be added in the other PRs.

Related links

• discussion
• autoware_launch

Tests performed

Evaluator

[TIER IV INTERNAL LINK] Baseline 811/814
[TIER IV INTERNAL LINK] This PR 812/814

Test by Psim

Please cherry-pick this commit to your autoware_launch or add following line to behavior_path_planner.param.yaml.

/**:
  ros__parameters:
    verbose: true # this line
   ...

If you want to use new manager, please set USE_BT to FALSE. For now, the manager can execute only lane following.

# use planner manager that supports behavior tree
set(USE_BT FALSE)
message(STATUS "USE_BEHAVIOR_TREE: " ${USE_BT})

simplescreenrecorder-2023-02-21_08.12.31.mp4

If you want to use conventional manager, please set USE_BT to TRUE.

# use planner manager that supports behavior tree
set(USE_BT TRUE)
message(STATUS "USE_BEHAVIOR_TREE: " ${USE_BT})

simplescreenrecorder-2023-02-21_09.24.17.mp4

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (ea58e59) 11.52% compared to head (e8708a0) 11.52%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2919      +/-   ##
==========================================
- Coverage   11.52%   11.52%   -0.01%     
==========================================
  Files        1314     1314              
  Lines       92819    92833      +14     
  Branches    25008    25018      +10     
==========================================
  Hits        10701    10701              
- Misses      70875    70888      +13     
- Partials    11243    11244       +1     

Flag	Coverage Δ		*Carryforward flag
differential	5.81% <0.00%> (?)
total	11.53% <ø> (+<0.01%)	⬆️	Carriedforward from ea58e59

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

Impacted Files	Coverage Δ
...havior_path_planner/behavior_path_planner_node.hpp	0.00% <ø> (ø)
...ner/include/behavior_path_planner/data_manager.hpp	21.42% <ø> (ø)
...lanner/include/behavior_path_planner/utilities.hpp	23.80% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.15% <0.00%> (-0.01%)	⬇️
..._planner/src/scene_module/scene_module_visitor.cpp	0.00% <ø> (ø)
planning/behavior_path_planner/src/utilities.cpp	8.20% <0.00%> (-0.08%)	⬇️

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[rej55]

LGTM

[satoshi-ota]

@rej55 @zulfaqar-azmi-t4 There is no critical regression.

[TIER IV INTERNAL LINK] Baseline 811/814
[TIER IV INTERNAL LINK] This PR 812/814