feat(static centerline optimizer): new package

[takayuki5168]

Description

This PR depends on

• feat(map_loader): make some functions static #2014
• feat(motion_utils): add new resmaple path #2015
• feat(mission_planner): add another initialization function #2259

TODO

• Sometimes path planning failed.
  • Actually, the path planning function is not so much tested. At least, simple case (path planning with a few left, right turn) has been tested.
• Elastic band is disabled
• successive path optimization

Example command to plan path with kashiwanoha map
ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml run_background:=false lanelet2_input_file_path:="/home/takayukimurooka/AutonomousDrivingScenarios/map/kashiwanoha/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus

Related links

#1942

Tests performed

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[codecov]

Codecov Report

Base: 11.13% // Head: 11.06% // Decreases project coverage by -0.06% ⚠️

Coverage data is based on head (311a598) compared to base (c581441).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2013      +/-   ##
==========================================
- Coverage   11.13%   11.06%   -0.07%     
==========================================
  Files        1204     1208       +4     
  Lines       86297    86837     +540     
  Branches    20827    20827              
==========================================
  Hits         9606     9606              
- Misses      66533    67073     +540     
  Partials    10158    10158              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	11.10% <ø> (ø)		Carriedforward from fb5f422

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

Impacted Files	Coverage Δ
...ne_optimizer/src/collision_free_optimizer_node.cpp	0.00% <0.00%> (ø)
planning/static_centerline_optimizer/src/main.cpp	0.00% <0.00%> (ø)
...optimizer/src/static_centerline_optimizer_node.cpp	0.00% <0.00%> (ø)
planning/static_centerline_optimizer/src/utils.cpp	0.00% <0.00%> (ø)

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-2013/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-2013/planning/static_centerline_optimizer/

[takayuki5168]

mission_planner's change in this PR is the same as #2259
After #2259 is merged, remove mission_planner's change from this PR, and merge this PR.

[TakaHoribe]

It worked perfectly. Please let me know after CI issue is fixed.

[takayuki5168]

@TakaHoribe
Thanks to the massive help from @kenji-miyake -san, all the required CI passed finally.
Give me LGTM!

[TakaHoribe]

LGTM. Great work!