fix(obstacle_cruise_planner): add separate parameters for cruise and stop margins

[ahmeddesokyebrahim]

Description

Closes #7922

Related links

Parent Issue:

• [Autoware Labs] Dense Urban ODD - Reviewing and Tracking Failed Scenarios #7485

How was this PR tested?

Using scenario simulation

• scenario
• map

❗ Note ❗
In this previous scenario, the safe distance is updated to be 12.5 m following the 3-seconds inter-vehicle time-distance rule in performance requirements here

Before this PR:

2024-07-23.15-28-31.mp4

After this PR:

2024-07-23.15-02-16.mp4

Notes for reviewers

This PR depends on an autoware_launch PR

Interface changes

Topic changes

N.A

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	common.cruise_safe_distance_method	double	0.5	cruise safe distance margin used by RSS equation as a small constant to avoid zero distance

Modifications

Version	Parameter Name	Type	Default Value	Description
Old	common.safe_distance_method	double	6.0	This is also used as a stop margin [m]
New	common.stop_safe_distance_method	double	6.0	stop safe distance margin used as previous safe_distance_method for stop purposes

Version	Parameter Name	Type	Default Value	Description
Old	common.terminal_safe_distance_margin	double	3.0	Stop margin at the goal. This value cannot exceed safe distance margin. [m]
New	common.terminal_stop_safe_distance_margin	double	3.0	Stop margin at the goal, used as previous terminal_safe_distance_margin

Effects on system behavior

Improving obstacle_cruise_planner behavior in cruising scenarios, mitigating any mitigate any unnecessary long safe distance ego and npc and satisfying performance requirements

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[codecov]

Codecov Report

Attention: Patch coverage is 35.29412% with 11 lines in your changes missing coverage. Please review.

Project coverage is 29.13%. Comparing base (2723c89) to head (61b5a05).
Report is 597 commits behind head on main.

Files with missing lines	Patch %	Lines
..._obstacle_cruise_planner/src/planner_interface.cpp	0.00%	7 Missing ⚠️
...utoware/obstacle_cruise_planner/common_structs.hpp	55.55%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8166      +/-   ##
==========================================
- Coverage   29.14%   29.13%   -0.01%     
==========================================
  Files        1608     1609       +1     
  Lines      118145   118172      +27     
  Branches    50862    50868       +6     
==========================================
+ Hits        34431    34435       +4     
- Misses      74490    74513      +23     
  Partials     9224     9224              

Flag	Coverage Δ		*Carryforward flag
differential	6.59% <35.29%> (?)
total	29.14% <ø> (-0.01%)	⬇️	Carriedforward from 2723c89

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

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[ahmeddesokyebrahim]

Closing this PR as the intended issue and scenario/s will be covered by this PR