feat(crosswalk): add option to slowdown at occluded crosswalks

[maxime-clem]

Description

Add a feature to slowdown when passing a crosswalk if it occluded.

Requires the launch PR: autowarefoundation/autoware_launch#807

Tests performed

Evaluator (TIER IV INTERNAL LINK): https://evaluation.tier4.jp/evaluation/reports/7e2f793c-c950-5a48-a185-b40f42001ecd?project_id=prd_jt

Effects on system behavior

slowdown when passing an occluded crosswalk.

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Summary by CodeRabbit

• New Feature: Added the ability to slow down when passing an occluded crosswalk. This feature includes new parameters for handling occlusions and a safety slowdown speed. The code initializes these parameters from the ROS parameter server. The CrosswalkModule class now supports slowing down based on occlusions, and a new function applySafetySlowDownSpeed applies a safety slowdown speed to the path. Dependencies grid_map_core, grid_map_ros, grid_map_utils, interpolation, and nav_msgs were added to the package.

[codecov]

Codecov Report

Attention: 140 lines in your changes are missing coverage. Please review.

Comparison is base (c9e6dda) 14.99% compared to head (f48deca) 14.98%.
Report is 47 commits behind head on main.

Files	Patch %	Lines
...locity_crosswalk_module/src/occluded_crosswalk.cpp	0.00%	88 Missing ⚠️
...behavior_velocity_crosswalk_module/src/manager.cpp	13.33%	0 Missing and 26 partials ⚠️
..._velocity_crosswalk_module/src/scene_crosswalk.cpp	0.00%	26 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6122      +/-   ##
==========================================
- Coverage   14.99%   14.98%   -0.02%     
==========================================
  Files        1838     1839       +1     
  Lines      127099   127216     +117     
  Branches    38075    38156      +81     
==========================================
+ Hits        19062    19066       +4     
- Misses      86715    86801      +86     
- Partials    21322    21349      +27     

Flag	Coverage Δ		*Carryforward flag
differential	11.19% <2.77%> (?)
total	15.00% <ø> (+<0.01%)	⬆️	Carriedforward from c9e6dda

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

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-6122/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-6122/planning/behavior_velocity_crosswalk_module/

[maxime-clem]

@maxime-clem Do you have a chart to describe this occluded crosswalk?

Sorry I just added the documentation: https://autowarefoundation.github.io/autoware.universe/pr-6122/planning/behavior_velocity_crosswalk_module/#occlusion
Let me know if something is not clear.