feat(start_planner): allow lane departure check override

[danielsanchezaran]

Description

Add a parameter: allow_check_shift_path_lane_departure_override to disable lane departure check IF the ego vehicle's original pose happens to not be fully inside a lanelet(s).

Note, some refactoring is also done.

NOTE: requires launch changes-> autowarefoundation/autoware_launch#893

Tests performed

PSim tests. Example video:

cap-.2024-02-29-10-27-22.mp4

the above video shows the inclusion of the requested feature, First, I show how the start planner works if lane departure check is disabled, 2nd I enable lane departure check but also the new option to override lane departure if partly outside of lane when starting, finally I turn off the override option and the lane departure check is executed (and no path is generated) Is this the expected behavior?

Evaluator tests: TIER IV INTERNAL LINK -> No degradation related to start planner

Effects on system behavior

If enabled (default is false) this parameters disables lane departure check if the initial ego pose is already protruding outside lanelets.

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[kyoichi-sugahara]

Looks so nice!
Thank you so much for quick work!!!!!

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 73 lines in your changes are missing coverage. Please review.

Project coverage is 14.80%. Comparing base (a88a428) to head (57c7883).
Report is 7 commits behind head on main.

Files	Patch %	Lines
..._start_planner_module/src/start_planner_module.cpp	0.00%	55 Missing ⚠️
...r_path_start_planner_module/src/shift_pull_out.cpp	0.00%	8 Missing ⚠️
...path_start_planner_module/start_planner_module.hpp	0.00%	5 Missing ⚠️
...behavior_path_start_planner_module/src/manager.cpp	0.00%	5 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #6512   +/-   ##
=======================================
  Coverage   14.80%   14.80%           
=======================================
  Files        1917     1917           
  Lines      131915   131878   -37     
  Branches    39202    39195    -7     
=======================================
- Hits        19524    19523    -1     
+ Misses      90609    90573   -36     
  Partials    21782    21782           

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.81% <ø> (+0.01%)	⬆️	Carriedforward from a88a428

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