feat(goal_planner): introduce bezier based pullover for bus stop area

[soblin]

Description

if use_bus_stop_area = true, bezier_planner starts working and feasible path is found (if false, only shift planner works and no candidate paths are generated)

before-2025-01-22_16.56.03.mp4

before-2025-01-22_17.11.52.mp4

launcher: autowarefoundation/autoware_launch#1308

Related links

• https://tier4.atlassian.net/browse/RT1-8337
  Parent Issue:

• Link

How was this PR tested?

• https://evaluation.tier4.jp/evaluation/reports/02500293-6444-5620-82a1-b60074882c02?page_size=50&project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[kosuke55]

this helper is not only for shift. geometric_pull_over is also called in this helper

for (const auto & planner : pull_over_planners_) {

[soblin]

fixed in bc8f304

[kosuke55]

nits:

when I hear azimuth in autoware I image

/**
 * @brief calculate azimuth angle of two points.
 * @details This function returns the azimuth angle of the position of the two input points
 *          with respect to the origin of their coordinate system.
 *          If x and y of the two points are the same, the calculation result will be unstable.
 * @param p_from source point
 * @param p_to target point
 * @return -pi < azimuth angle < pi.
 */
double calcAzimuthAngle(
  const geometry_msgs::msg::Point & p_from, const geometry_msgs::msg::Point & p_to)
{
  const double dx = p_to.x - p_from.x;
  const double dy = p_to.y - p_from.y;
  return std::atan2(dy, dx);
}

but here azimuth is two pose orientaion diff.
add explanation or rename it

[soblin]

fixed in bc8f304

[kosuke55]

todo

• update the goal searcher so that the condition for searching goals within the bus stop area is use_bus_stop_area && goal is within the bus stop area
• introduce a trigger_thread_flag for generating paths in advance.