feat(behavior_path_start_planner): add unit tests for freespace pull out path generation

[kyoichi-sugahara]

Description

WIP

1. Added TestFreespacePullOut as a friend class to FreespacePullOut class
   • Enabled access to private members from the test class
2. Added test of path generation

Related links

Parent Issue:

• Link

How was this PR tested?

confimed colcon test passed with following command

colcon test --event-handlers console_cohesion+ --packages-select autoware_behavior_path_start_planner_module

and passed

1: [----------] 1 test from TestFreespacePullOut
1: [ RUN      ] TestFreespacePullOut.GenerateValidFreespacePullOutPath
1: [INFO 1735056011.155950968] [route_handler]: getMainLanelets: lanelet_sequence = [ids: 508 1304 720 ] (getMainLanelets():2042)
1: primitive: 508
1: preferred_primitive id : 508
1: primitive: 1304
1: preferred_primitive id : 1304
1: primitive: 720
1: preferred_primitive id : 720
1: [       OK ] TestFreespacePullOut.GenerateValidFreespacePullOutPath (582 ms)
1: [----------] 1 test from TestFreespacePullOut (582 ms total)

Notes for reviewers

confirmed that path planning is possible using the freespace planner by turning off shift/geometric pull out, and saved the resulting start/goal poses to yaml for reuse in the test .

utilized following command

# disable shift/geometric pull out planner
ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner start_planner.enable_shift_pull_out false
ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner start_planner.enable_geometric_pull_out false

# launch autoware
ros2 launch autoware_test_utils psim_road_shoulder.launch.xml vehicle_model:=<vehicle-model> sensor_model:=<sensor-model>

# get yaml file
ros2 service call /autoware_test_utils/topic_snapshot_saver std_srvs/srv/Empty \{\}

Interface changes

None.

Effects on system behavior

None.

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