refactor(tier4_planning_launch): use xml style launch

[satoshi-ota]

Description

🤖 Generated by Copilot at 360bd74

Refactor and update the launch files for the planning module to use ROS 2 features and improve performance and modularity. Delete unused and duplicated launch files and nodes. Add new parameters and remappings for the behavior planning nodes.

Please review following PR at first:
autowarefoundation/autoware_launch#671

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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.

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.

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

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (75f7357) 14.72% compared to head (f11c104) 14.72%.
Report is 1 commits behind head on main.

❗ Current head f11c104 differs from pull request most recent head 5981eeb. Consider uploading reports for the commit 5981eeb to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5448      +/-   ##
==========================================
- Coverage   14.72%   14.72%   -0.01%     
==========================================
  Files        1665     1665              
  Lines      116244   116114     -130     
  Branches    36038    35964      -74     
==========================================
- Hits        17117    17095      -22     
+ Misses      79734    79657      -77     
+ Partials    19393    19362      -31     

Flag	Coverage Δ		*Carryforward flag
differential	∅ <ø> (?)
total	14.72% <ø> (-0.01%)	⬇️	Carriedforward from a194589

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

see 10 files with indirect coverage changes

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

[satoshi-ota]

Fix wrong topic remapping. (turn signal, hazard signal.)

[TomohitoAndo]

Is it necessary for users to manually change launch_compare_map_pipeline?
In behavior_planning_launch.py, this parameter was automatically set to true when both the run_out module was launched and the method for the run_out module was set to Points.

autoware.universe/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py

Lines 228 to 229 in a2b114d

	launch_run_out = run_out_module in behavior_velocity_planner_params["launch_modules"]
	launch_run_out_with_points_method = launch_run_out and run_out_method == "Points"

If it's challenging to replicate this automatic behavior in launch.xml, it might be acceptable to require users to manually set it to true.

[TomohitoAndo]

I confirmed run_out with Points method works when launch_compare_map_pipeline is true.

[satoshi-ota]

@TomohitoAndo Thanks!

If it's challenging to replicate this automatic behavior in launch.xml, it might be acceptable to require users to manually set it to true.

I'll try it. But it might be difficult...

[satoshi-ota]

@TomohitoAndo Sorry, it is a little bit difficult to improve it quickly...
Anyway, I would like to refactor launch files so that we can launch only modules we want to use more easily. So, I'll take this issue into consideration and improve as much as I can in that work.

Then, I would like you to change this arg manually for a while. Is it ok?

[TomohitoAndo]

Okay! Thank you for trying!