feat(avoidance): support new framework

[satoshi-ota]

Description

⬇️ This must be merged before this PR.
autowarefoundation/autoware_launch#233

It is able to build avoidance module on new framework (added in #2919).

Related links

• feat(behavior_path_planner): add new manager independent from behavior tree #2919
• feat(avoidance): add config for new framework autoware_launch#233

Tests performed

Checkout your branch of autoware_launch to feat/support-new-framework-avoidance.
https://github.com/autowarefoundation/autoware_launch/tree/feat/support-new-framework-avoidance

In addtion, we may have to comment out module names which haven't supported new framework yet in rtc_auto_mode_manager.param.yaml.

/**:
  ros__parameters:
    module_list:
      - "blind_spot"
      - "crosswalk"
      - "detection_area"
      - "intersection"
      - "no_stopping_area"
      - "traffic_light"
      # - "ext_request_lane_change_left"
      # - "ext_request_lane_change_right"
      # - "lane_change_left"
      # - "lane_change_right"
      - "avoidance_left"
      - "avoidance_right"
      # - "pull_over"
      # - "pull_out"

Please set following flag to FALSE, and confirm to pass all build.

autoware.universe/planning/behavior_path_planner/CMakeLists.txt

Line 10 in ad55953

set(COMPILE_WITH_OLD_ARCHITECTURE TRUE)

Launch Psim and check the avoidance module working correctly.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +0.80 🎉

Comparison is base (7f064da) 11.93% compared to head (e184677) 12.74%.

❗ Current head e184677 differs from pull request most recent head a8610fc. Consider uploading reports for the commit a8610fc to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2987      +/-   ##
==========================================
+ Coverage   11.93%   12.74%   +0.80%     
==========================================
  Files        1321     1219     -102     
  Lines       91937    86093    -5844     
  Branches    24522    24543      +21     
==========================================
- Hits        10976    10974       -2     
+ Misses      69603    63758    -5845     
- Partials    11358    11361       +3     

Flag	Coverage Δ		*Carryforward flag
differential	5.58% <0.00%> (?)
total	12.75% <ø> (+0.81%)	⬆️	Carriedforward from 5258013

*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)
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.14% <0.00%> (-0.01%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	80.95% <0.00%> (-4.77%)	⬇️
planning/behavior_path_planner/src/utilities.cpp	7.69% <0.00%> (-0.02%)	⬇️
planning/rtc_interface/src/rtc_interface.cpp	0.00% <0.00%> (ø)
...erception/traffic_light_classifier/src/nodelet.cpp	0.00% <0.00%> (ø)
... and 103 more

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[zulfaqar-azmi-t4]

Both old and new frameworks works well.

Old framework

cap-.2023-03-09-11-40-00.mp4.mp4

New framework

cap-.2023-03-09-11-35-21.mp4.mp4

[zulfaqar-azmi-t4]

LGTM!