fix(start/goal_planner): resample path and make params

[kosuke55]

Description

resample freespace pull out path to fix sparse drivable area.
and make params for resaple reference center line path interval

(the drivable area is out of lane but it will be fixed after start planner is finished at end pose in freespace area)

before

after

Related links

Tests performed

psim

2023/09/22 https://evaluation.tier4.jp/evaluation/reports/8252efaa-a564-5b45-a8bb-91fde156e462/?project_id=prd_jt

https://evaluation.tier4.jp/evaluation/reports/72bd5eb6-8f81-5a7f-98a1-caa6381c510b?project_id=prd_jt

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Patch coverage: 9.37% and project coverage change: -0.01% ⚠️

Comparison is base (1911464) 15.02% compared to head (f997457) 15.02%.
Report is 2 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5085      +/-   ##
==========================================
- Coverage   15.02%   15.02%   -0.01%     
==========================================
  Files        1608     1608              
  Lines      111713   111730      +17     
  Branches    34631    34640       +9     
==========================================
- Hits        16787    16786       -1     
- Misses      76226    76235       +9     
- Partials    18700    18709       +9     

Flag	Coverage Δ		*Carryforward flag
differential	12.61% <9.37%> (?)
total	15.02% <ø> (-0.01%)	⬇️	Carriedforward from 5de5125

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

Files Changed	Coverage Δ
...ic_parallel_parking/geometric_parallel_parking.hpp	16.66% <ø> (ø)
...ath_planner/utils/goal_planner/shift_pull_over.hpp	0.00% <ø> (ø)
...ath_planner/utils/start_planner/shift_pull_out.hpp	0.00% <ø> (ø)
...cene_module/start_planner/start_planner_module.cpp	5.35% <0.00%> (-0.01%)	⬇️
...ic_parallel_parking/geometric_parallel_parking.cpp	0.00% <0.00%> (ø)
...planner/src/utils/goal_planner/shift_pull_over.cpp	3.53% <0.00%> (ø)
...ner/src/utils/start_planner/freespace_pull_out.cpp	14.00% <0.00%> (-0.59%)	⬇️
...planner/src/utils/start_planner/shift_pull_out.cpp	2.48% <0.00%> (-0.05%)	⬇️
..._planner/src/scene_module/goal_planner/manager.cpp	5.79% <20.00%> (+0.27%)	⬆️
...planner/src/scene_module/start_planner/manager.cpp	5.57% <66.66%> (+0.79%)	⬆️

... and 2 files with indirect coverage changes

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[kosuke55]

@kyoichi-sugahara
thanks! could you please approve autowarefoundation/autoware_launch#586 ?

[kyoichi-sugahara]

@kosuke55
Oh sorry.
Approved now.