feat(freespace_planning_algorithms): add tests for updated astar algorithm

[4swinv]

Description

Refer PR for updated algorithm: #6526
New tests are added to evaluate the updated astar introduced in above PR. New test file created in planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms_astar.cpp
The test file runs the astar search for a number of start and goal poses, and can dump the rosbag. The rosbag can then be visualized using src/universe/autoware.universe/planning/freespace_planning_algorithms/test/debug_plot.py.

Three test cases are compared, 1) old algorithm without any improvements (9m curvature), 2) new algorithm with 5m min radius and 9m max radius, with an extra 7m radius also being made during branch search. It is also using curve weight: true + complete algorithm: true flags. 3) same as case 2) but with curve weight: false turned off.

Tests performed

The new tests were run, rosbag saved and the resulting plots from debug_plot.py are shown below.

Effects on system behavior

Does not effect simulator.

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[maxime-clem]

The new tests look good. Please open the PR for review after simplifying the CMakeLists.txt.

[maxime-clem]

do not add two "test" in CMake (freespace_planning_algorithms-test and freespace_planning_algorithms_no_obstacles-test).
Instead, please have one freespace_planning_algorithms-test with all test files.
You should also remove the find_package(ament_cmake_ros REQUIRED).

[takayuki5168]

Tier IV -> TIER IV
Please check other files as well.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[xmfcx]

@takayuki5168 @mkquda hello,

@NorahXiong from AutoCore will take over this task, do you have anything to share on this PR?

[mkquda]

@takayuki5168 @mkquda hello,

@NorahXiong from AutoCore will take over this task, do you have anything to share on this PR?

@xmfcx @takayuki5168
This PR is already obsolete and irrelevant since we already did entire refactoring / improvements for freespace planning algorithm in multiple PRs. I will share the relevant PRs below:

• refactor(freespace_planning_algorithm): refactor and improve astar search #8068
• feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning #8089
• feat(freespace_planning_algorithms): implement option for backward search from goal to start #8091
• feat(freespace_planning_algorithms): implement option for backward search from goal to start #8091
• feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner #8092

[xmfcx]

@mkquda thanks for letting us know, I will close this PR then ✅