feat: change planning factor behavior constants

[isamu-takagi]

Description

Changed the velocity/steering factor type to string for extensibility of the module. Since it is an unreleased API, I don't think it will have a big impact, but the default_ad_api package converts it to the previous type to maintain compatibility.

Related links

autowarefoundation/autoware_adapi_msgs#45

Tests performed

• Checkout feat(autoware_adapi_v1_msgs): add planning behavior type autoware_adapi_msgs#45
• Launch planning simulator
• Add VelocitySteeringFactorsPanel on rviz
• Set initialpose and goal
• Check if VelocitySteeringFactorsPanel works well

Notes for reviewers

None

Interface changes

autowarefoundation/autoware_adapi_msgs#45.

Effects on system behavior

None

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[tkhmy]

LGTM

[yabuta]

LGTM

[h-ohta]

After merging this PR, following line would be no longer used.
https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg#L39
@isamu-takagi Do you make another PR to fix it?

[codecov]

Codecov Report

Attention: 2242 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (237d618) 11.70%.
Report is 107 commits behind head on main.

Files	Patch %	Lines
...s/drivable_area_expansion/static_drivable_area.cpp	13.19%	597 Missing and 87 partials ⚠️
...anner/src/utils/avoidance/shift_line_generator.cpp	13.28%	431 Missing and 65 partials ⚠️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	3.90%	187 Missing and 10 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.cpp	0.56%	175 Missing and 2 partials ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	10.56%	110 Missing and 17 partials ⚠️
...ner/src/utils/path_safety_checker/safety_check.cpp	0.00%	84 Missing ⚠️
..._path_planner/src/marker_utils/avoidance/debug.cpp	0.00%	61 Missing ⚠️
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	1.69%	58 Missing ⚠️
...cene_module/start_planner/start_planner_module.cpp	8.62%	53 Missing ⚠️
planning/behavior_path_planner/src/utils/utils.cpp	35.89%	31 Missing and 19 partials ⚠️
... and 30 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5590      +/-   ##
==========================================
- Coverage   15.32%   11.70%   -3.62%     
==========================================
  Files        1721      272    -1449     
  Lines      118559    29583   -88976     
  Branches    37995    15778   -22217     
==========================================
- Hits        18169     3464   -14705     
+ Misses      79657    21153   -58504     
+ Partials    20733     4966   -15767     

Flag	Coverage Δ
differential	11.70% <11.97%> (?)
total	?

☔ View full report in Codecov by Sentry.
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[isamu-takagi]

@isamu-takagi Do you make another PR to fix it?

@h-ohta Yes, I want a commit where both can be used temporarily, so I will delete it in another PR.

[h-ohta]

output-2023-11-30_12.32.50-00.00.17.207-00.00.54.700.mp4

Confirmed:

• Build: OK
• Velocity Factors
  • Intersection
  • Route Obstacle
  • Crosswalk
• Steering Factors
  • Intersection