feat(learned_model): create package

[atomyks]

Description

This PR creates a new package that enables running trained python vehicle models in the simple_planning_simulator. The main purpose of this PR is to have an easy way of launching python trained ML models in the simulator without a need for an extensive C++ code.

Related links

PyBind11
COMPANY INTERNAL LINK - How to properly launch this PR to test it

Tests performed

I tested this feature by using different python models, using different launch parameters while simulating the motion of the vehicle in the simulator.

Notes for reviewers

I created a tutorial on how to launch some basic trained python models. (see links)

There can be an issue with dependencies that I haven't been able to resolve yet. This feature depends on the python3 and pybind11 which probably cannot be installed using rosdep.

Interface changes

This PR changes the interface of simple_planning_simulator slightly by adding a few more launch parameters (more on this in the updated documentation). However, this PR does not remove any functionality of simple_planning_simulator and does not break the interface.

Effects on system behavior

This PR adds a new model to simple_planning_simulator. This PR does not break the existing code of simple_planning_simulator.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-6395/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-6395/simulator/learning_based_vehicle_model/
• https://autowarefoundation.github.io/autoware.universe/pr-6395/simulator/simple_planning_simulator/

[maxime-clem]

Please finish addressing all the comments and add copyrights to all the new files.
You should also make sure all the required checks are passing. For example https://results.pre-commit.ci/run/github/429651616/1709574266.1edMl4owQtGa-5vXW0GnQg

[codecov]

Codecov Report

Attention: Patch coverage is 0.65789% with 151 lines in your changes are missing coverage. Please review.

Project coverage is 14.79%. Comparing base (7d26879) to head (48379dc).
Report is 2 commits behind head on main.

Files	Patch %	Lines
...g_based_vehicle_model/src/interconnected_model.cpp	0.00%	55 Missing ⚠️
...earning_based_vehicle_model/src/simple_pymodel.cpp	0.00%	38 Missing ⚠️
...ator/vehicle_model/sim_model_learned_steer_vel.cpp	0.00%	33 Missing ⚠️
...ed_vehicle_model/src/model_connections_helpers.cpp	0.00%	14 Missing ⚠️
...nning_simulator/simple_planning_simulator_core.cpp	11.11%	4 Missing and 4 partials ⚠️
...ator/vehicle_model/sim_model_learned_steer_vel.hpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6395      +/-   ##
==========================================
- Coverage   14.93%   14.79%   -0.15%     
==========================================
  Files        1944     1929      -15     
  Lines      134033   132392    -1641     
  Branches    39871    39467     -404     
==========================================
- Hits        20023    19583     -440     
+ Misses      91718    90908     -810     
+ Partials    22292    21901     -391     

Flag	Coverage Δ		*Carryforward flag
differential	41.67% <0.65%> (?)
total	14.80% <ø> (-0.14%)	⬇️	Carriedforward from 819ef58

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

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[TakaHoribe]

LGTM