Summary

This pull request refactors the behavior path planner module to use a new target_type parameter group for filtering predicted objects by their type for avoidance and safety check. It removes the is_target parameter from various files and adds new fields and functions to the avoidance_module_data.hpp and utils.cpp files. It also simplifies and unifies the scene module interface and configuration.

Walkthrough

• Refactor the code to use more fine-grained filtering of target object types for avoidance and safety check (link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link)

• Update the code to read and use the new filtering parameters from the YAML files and the dynamic reconfigure server (link, link, link, link, link, link, link, link)

  Poem

  To filter the objects in sight

We used to check is_target quite
But now we have target_type
Which makes the code more concise
And helps the planner avoid and decide

Emoji

🚧🔧🚀

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