feat(avoidance/goal_planner): execute avoidance and pull over simultaneously (#782)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Author: kosuke55

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -122,7 +122,8 @@
           motorcycle: true                               # [-]
           pedestrian: true                               # [-]
         # detection range
-        object_check_goal_distance: 20.0                # [m]
+        object_check_goal_distance: 20.0                 # [m]
+        object_check_return_pose_distance: 20.0          # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]
         object_check_shiftable_ratio: 0.6               # [-]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml

@@ -53,7 +53,7 @@
 
     goal_planner:
       enable_rtc: false
-      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
       priority: 1