feat: port simplified version of autoware_mission_planner from Autoware Universe

[mitsudome-r]

Description

Resolved #265

This ports the autoware_mission_planner_universe into Autoware Core while removing the unnecessary functionality for Autoware Core. The removing functionality are related to MRM design, which are still subject to change.

Specifically, the following modification are made:

• Removing route selector functionality since we don't support MRM
• Removing reroute_availability and modified_goal interface from behavior_path_planner since we do not port behavior_path_planner in Phase 1.
• replace tier4_planning_msgs with autoware_internal_planning_msgs

Note that we will keep the original autoware_mission_planner_universe in Autoware Universe for people who wish to continue using the advanced features.

Related links

Parent Issue:

• Implement simpler version of mission_planner #265

How was this PR tested?

I have tested locally using AWSIM that it can calculate the path from ros2 service call /planning/mission_planner/set_waypoint_route autoware_internal_planning_msgs/srv/SetWaypointRoute command

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[youtalk]

Cosmetic feedback only. So LGTM

[youtalk]

Since this PR is not porting, I enable auto-merge.

[codecov]

Codecov Report

Attention: Patch coverage is 31.87184% with 404 lines in your changes missing coverage. Please review.

Project coverage is 11.82%. Comparing base (4cb18f5) to head (800a26d).
Report is 125 commits behind head on main.

Files with missing lines	Patch %	Lines
...on_planner/src/mission_planner/mission_planner.cpp	0.00%	304 Missing ⚠️
...n_planner/src/lanelet2_plugins/default_planner.cpp	75.53%	29 Missing and 17 partials ⚠️
...on_planner/src/mission_planner/arrival_checker.cpp	0.00%	19 Missing ⚠️
.../src/goal_pose_visualizer/goal_pose_visualizer.cpp	0.00%	13 Missing ⚠️
...sion_planner/src/mission_planner/service_utils.hpp	0.00%	13 Missing ⚠️
...planner/src/lanelet2_plugins/utility_functions.cpp	90.19%	2 Missing and 3 partials ⚠️
...sion_planner/src/mission_planner/service_utils.cpp	0.00%	4 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main     #329       +/-   ##
===========================================
- Coverage   78.75%   11.82%   -66.94%     
===========================================
  Files          11       51       +40     
  Lines         193     3790     +3597     
  Branches       73      821      +748     
===========================================
+ Hits          152      448      +296     
- Misses         11     3267     +3256     
- Partials       30       75       +45     

Flag	Coverage Δ
differential	11.82% <31.87%> (?)
total	?

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.