chore: sync upstream

[tier4-autoware-public-bot]

Features

• [avoidance] Improve avoidance judgement logic for pedestrian & bicycle (feat(avoidance): improve avoidance judgement logic for pedestrian & bicycle autowarefoundation/autoware.universe#4016)
• [behavior_path_planner] Use new framework (feat(behavior_path_planner): use new framework autowarefoundation/autoware.universe#4051)
• [dynamic_avoidance] Apply LPF to shift length, and positive relative velocity (feat(dynamic_avoidance): apply LPF to shift length, and positive relative velocity autowarefoundation/autoware.universe#4047)
• [behavior_velocity_traffic_light_module] Print not found traffic ids for warning (feat(behavior_velocity_traffic_light_module): print not found traffic ids for warning autowarefoundation/autoware.universe#4045)
• [dynamic_avoidance] Suppress flickering of dynamic avoidance launching (feat(dynamic_avoidance): suppress flickering of dynamic avoidance launching autowarefoundation/autoware.universe#4048)
• [dynamic_avoidance] Ignore cut-out vehicle (feat(dynamic_avoidance): ignore cut-out vehicle autowarefoundation/autoware.universe#4049)
• [mission_planner] Add mrm route planner (feat(mission_planner): add mrm route planner autowarefoundation/autoware.universe#4027)
• [behavior_path_planner] Add turn signal debug marker (feat(behavior_path_planner): add turn signal debug marker autowarefoundation/autoware.universe#4066)
• [obstacle_cruise_planner] Change cruise color to orange (feat(obstacle_cruise_planner): change cruise color to orange autowarefoundation/autoware.universe#4065)
• [avoidance] Set additional buffer margin independently (feat(avoidance): set additional buffer margin independently autowarefoundation/autoware.universe#4041)

Bug Fixes

• [points_preprocessor] Single input topic should be first element (fix(points_preprocessor): single input topic should be first element autowarefoundation/autoware.universe#4044)
• [behavior_path_planner] Print avoidance and lane change debug mes… (fix(behavior_path_planner): print avoidance and lane change debug mes… autowarefoundation/autoware.universe#4058)
• [avoidance] Update logic to keep waiting approval (fix(avoidance): update logic to keep waiting approval autowarefoundation/autoware.universe#4059)
• [lane_change] Fix debug visualization now showing (fix(lane_change): fix debug visualization now showing autowarefoundation/autoware.universe#4061)
• [start_planner] Not run other modules when back pull out (fix(start_planner): not run other modules when back pull out autowarefoundation/autoware.universe#4043)
• [crosswalk] Return if the stop point with factor is boost::none (fix(crosswalk): return if the stop point with factor is boost::none autowarefoundation/autoware.universe#4071)

Documentation

• [default_ad_api] Fix link in default_ad_api (docs(default_ad_api): fix link in default_ad_api autowarefoundation/autoware.universe#4067)

Code Refactoring

• [occpuancy grid map] Move param to yaml (refactor(occpuancy grid map): move param to yaml autowarefoundation/autoware.universe#4038)
• [crosswalk] Minor refactoring (refactor(crosswalk): minor refactoring autowarefoundation/autoware.universe#4046)
• [lane_change] Use common logger (refactor(lane_change): use common logger autowarefoundation/autoware.universe#4072)

Performance Improvements

• [voxel_grid_downsample_filter] Performance tuning (perf(voxel_grid_downsample_filter): performance tuning autowarefoundation/autoware.universe#3679)

Builds

• Fix opencv dependency (build: fix opencv dependency autowarefoundation/autoware.universe#3987)

Reverts

• "feat(behavior_path_planner): relax longitudinal_velocity_delta_time" (revert: "feat(behavior_path_planner): relax longitudinal_velocity_delta_time" autowarefoundation/autoware.universe#4064)

[codecov-commenter]

Codecov Report

Patch coverage: 5.57% and project coverage change: -0.65 ⚠️

Comparison is base (3b162aa) 11.87% compared to head (a3c6ea2) 11.22%.

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Additional details and impacted files

@@              Coverage Diff               @@
##           tier4/main     #617      +/-   ##
==============================================
- Coverage       11.87%   11.22%   -0.65%     
==============================================
  Files             174      215      +41     
  Lines           14983    21662    +6679     
  Branches         6954     9465    +2511     
==============================================
+ Hits             1779     2432     +653     
- Misses          10909    16189    +5280     
- Partials         2295     3041     +746     

Flag	Coverage Δ
differential	11.22% <5.57%> (-0.65%)	⬇️

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% <0.00%> (ø)
...d_map/pointcloud_based_occupancy_grid_map_node.cpp	0.00% <0.00%> (ø)
...occupancy_grid_map_binary_bayes_filter_updater.cpp	0.00% <0.00%> (ø)
.../include/behavior_path_planner/planner_manager.hpp	18.86% <ø> (+18.86%)	⬆️
...ule/dynamic_avoidance/dynamic_avoidance_module.hpp	0.00% <0.00%> (ø)
...r_path_planner/scene_module/lane_change/normal.hpp	0.00% <ø> (-100.00%)	⬇️
...cene_module/start_planner/start_planner_module.hpp	0.00% <0.00%> (-50.00%)	⬇️
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
... and 28 more

... and 199 files with indirect coverage changes

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