feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module

[maxime-clem]

Description

Add a new module to the behavior_velocity_planner for avoiding near collisions with dynamic obstacles.

Related links

JIRA ticket (TIER IV INTERNAL LINK): https://tier4.atlassian.net/browse/RT1-4471

Tests performed

PSim
Evaluator (TIER IV INTERNAL LINK):

• https://evaluation.tier4.jp/evaluation/reports/64af66f9-23b5-5d2b-88c6-fcb2e5b8c125?project_id=prd_jt
• https://evaluation.tier4.jp/evaluation/reports/658e84fa-0aa8-568f-b824-238041776ca3?project_id=prd_jt

Notes for reviewers

Launch PR: autowarefoundation/autoware_launch#730

Interface changes

New topics for the debug markers and virtual wall

Effects on system behavior

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[codecov]

Codecov Report

Attention: 220 lines in your changes are missing coverage. Please review.

Comparison is base (2175b57) 15.29% compared to head (03d3674) 15.27%.
Report is 5 commits behind head on main.

Files	Patch %	Lines
...le_stop_module/src/scene_dynamic_obstacle_stop.cpp	0.00%	82 Missing ⚠️
...elocity_dynamic_obstacle_stop_module/src/debug.cpp	0.00%	39 Missing ⚠️
...ocity_dynamic_obstacle_stop_module/src/manager.cpp	0.00%	26 Missing ⚠️
...ity_dynamic_obstacle_stop_module/src/footprint.cpp	0.00%	25 Missing ⚠️
...amic_obstacle_stop_module/src/object_filtering.cpp	0.00%	25 Missing ⚠️
...ity_dynamic_obstacle_stop_module/src/collision.cpp	0.00%	18 Missing ⚠️
...elocity_dynamic_obstacle_stop_module/src/types.hpp	0.00%	3 Missing ⚠️
...ocity_dynamic_obstacle_stop_module/src/manager.hpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5835      +/-   ##
==========================================
- Coverage   15.29%   15.27%   -0.03%     
==========================================
  Files        1747     1755       +8     
  Lines      120123   120343     +220     
  Branches    36574    36574              
==========================================
  Hits        18377    18377              
- Misses      81129    81349     +220     
  Partials    20617    20617              

Flag	Coverage Δ		*Carryforward flag
differential	16.60% <0.00%> (?)
total	15.29% <ø> (ø)		Carriedforward from 2175b57

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

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-5835/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-5835/planning/behavior_velocity_dynamic_obstacle_stop_module/