feat(mission_planner): add mrm route planner

[purewater0901]

Description

Add MRM reroute implementation in the mission planner. If there is an MRM manager, and it requires rerouting in an appropriate situation, the mission planner creates a new route for the MRM manager. It also sends the MRM route to the behavior path planner. Note that if the reroute success, it only published mrm route via mrm_route_pub_.

Tests performed

Not applicable.

Effects on system behavior

If it's under MRM state, it can create an MRM route.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +1.10 🎉

Comparison is base (3b162aa) 14.31% compared to head (d16313c) 15.42%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4027      +/-   ##
==========================================
+ Coverage   14.31%   15.42%   +1.10%     
==========================================
  Files        1557     1355     -202     
  Lines      106900    96387   -10513     
  Branches    30777    29857     -920     
==========================================
- Hits        15302    14863     -439     
+ Misses      75028    65297    -9731     
+ Partials    16570    16227     -343     

Flag	Coverage Δ		*Carryforward flag
differential	12.86% <0.00%> (?)
total	15.43% <ø> (+1.12%)	⬆️	Carriedforward from 7953ecb

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

Impacted Files	Coverage Δ
...id_map/laserscan_based_occupancy_grid_map_node.hpp	0.00% <ø> (ø)
...e/updater/occupancy_grid_map_updater_interface.hpp	0.00% <ø> (ø)
...id_map/laserscan_based_occupancy_grid_map_node.cpp	0.00% <ø> (ø)
...d_map/pointcloud_based_occupancy_grid_map_node.cpp	0.00% <ø> (ø)
...occupancy_grid_map_binary_bayes_filter_updater.cpp	0.00% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	4.15% <ø> (+0.01%)	⬆️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	2.73% <ø> (ø)
...on_planner/src/mission_planner/mission_planner.cpp	0.00% <0.00%> (ø)

... and 223 files with indirect coverage changes

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[isamu-takagi]

LGTM