feat(planning_test_manager): abstract message-specific functions

[mitukou1109]

Description

This PR abstracts message-specific functions provided by autoware::planning_test_manager::PlanningInterfaceTestManager by using templates.
In addition, the node interface test in each package of the planning component is revised to adapt to the new test manager.

Correspondence of functions

Old	New
publishOdometry(target_node, topic_name, shift)	publishInput(target_node, topic_name, autoware::test_utils::makeOdometry(shift))
publishInitialPose(target_node, topic_name, shift)	publishInput(target_node, topic_name, autoware::test_utils::makeInitialPose(shift))
publishMaxVelocity(target_node, topic_name)	publishInput(target_node, topic_name, tier4_planning_msgs::msg::VelocityLimit{})
publishPointCloud(target_node, topic_name)	publishInput(target_node, topic_name, sensor_msgs::msg::PointCloud2{}.set__header(std_msgs::msg::Header{}.set__frame_id("base_link")))
publishAcceleration(target_node, topic_name)	publishInput(target_node, topic_name, geometry_msgs::msg::AccelWithCovarianceStamped{})
publishPredictedObjects(target_node, topic_name)	publishInput(target_node, topic_name, autoware_perception_msgs::msg::PredictedObjects{})
publishExpandStopRange(target_node, topic_name)	publishInput(target_node, topic_name, tier4_planning_msgs::msg::ExpandStopRange{})
publishOccupancyGrid(target_node, topic_name)	publishInput(target_node, topic_name, autoware::test_utils::makeCostMapMsg())
publishCostMap(target_node, topic_name)	publishInput(target_node, topic_name, autoware::test_utils::makeCostMapMsg())
publishMap(target_node, topic_name)	publishInput(target_node, topic_name, autoware::test_utils::makeMapBinMsg())
publishLaneDrivingScenario(target_node, topic_name)	publishInput(target_node, topic_name, autoware::test_utils::makeScenarioMsg(tier4_planning_msgs::msg::Scenario::LANEDRIVING))
publishParkingScenario(target_node, topic_name)	publishInput(target_node, topic_name, autoware::test_utils::makeScenarioMsg(tier4_planning_msgs::msg::Scenario::PARKING))
publishParkingState(target_node, topic_name)	publishInput(target_node, topic_name, std_msgs::msg::Bool{})
publishTrajectory(target_node, topic_name)	publishInput(target_node, topic_name, autoware_planning_msgs::msg::Trajectory{})
publishRoute(target_node, topic_name)	publishInput(target_node, topic_name, autoware::test_utils::makeNormalRoute())
publishTF(target_node, topic_name)	publishInput(target_node, topic_name, autoware::test_utils::makeTFMsg(target_node, "base_link", "map"))
publishInitialPoseTF(target_node, topic_name)	publishInput(target_node, topic_name, autoware::test_utils::makeTFMsg(target_node, "odom", "base_link"))
publishLateralOffset(target_node, topic_name)	publishInput(target_node, topic_name, tier4_planning_msgs::msg::LateralOffset{})
publishOperationModeState(target_node, topic_name)	publishInput(target_node, topic_name, autoware_adapi_v1_msgs::msg::OperationModeState{})
publishTrafficSignals(target_node, topic_name)	publishInput(target_node, topic_name, autoware_perception_msgs::msg::TrafficLightGroupArray{})
publishVirtualTrafficLightState(target_node, topic_name)	publishInput(target_node, topic_name, tier4_v2x_msgs::msg::VirtualTrafficLightStateArray{})
set***TopicName(topic_name)	(unnecessary)
setTrajectorySubscriber(topic_name)	subscribeOutput<autoware_planning_msgs::msg::Trajectory>(topic_name)
setScenarioSubscriber(topic_name)	subscribeOutput<tier4_planning_msgs::msg::Scenario>(topic_name)
setPathWithLaneIdSubscriber(topic_name)	subscribeOutput<tier4_planning_msgs::msg::PathWithLaneId>(topic_name)
setRouteSubscriber(topic_name)	subscribeOutput<autoware_planning_msgs::msg::LaneletRoute>(topic_name)
setPathSubscriber(topic_name)	subscribeOutput<autoware_planning_msgs::msg::Path>(topic_name)
testWithNominalTrajectory(target_node)	testWithNormalTrajectory(target_node, topic_name)
testWithAbnormalTrajectory(target_node)	testWithAbnormalTrajectory(target_node, topic_name)
testWithNominalRoute(target_node)	testWithNormalRoute(target_node, topic_name)
testWithAbnormalRoute(target_node)	testWithAbnormalRoute(target_node, topic_name)
testWithBehaviorNominalRoute(target_node)	testWithBehaviorNormalRoute(target_node, topic_name)
testWithNominalPathWithLaneId(target_node)	testWithNormalPathWithLaneId(target_node, topic_name)
testWithAbnormalPathWithLaneId(target_node)	testWithAbnormalPathWithLaneId(target_node, topic_name)
testWithNominalPath(target_node)	testWithNormalPath(target_node, topic_name)
testWithAbnormalPath(target_node)	testWithAbnormalPath(target_node, topic_name)
testRouteWithInvalidEgoPose(target_node)	testWithBehaviorNormalRoute(target_node, topic_name); testWithOffTrackInitialPoses(target_node, topic_name)
testPathWithInvalidEgoPose(target_node)	testWithNormalPath(target_node, topic_name); testWithOffTrackInitialPoses(target_node, topic_name)
testPathWithLaneIdWithInvalidEgoPose(target_node)	testWithNormalPathWithLaneId(target_node, topic_name); testWithOffTrackOdometries(target_node, topic_name)
testTrajectoryWithInvalidEgoPose(target_node)	testWithNormalTrajectory(target_node, topic_name); testWithOffTrackOdometries(target_node, topic_name)

How was this PR tested?

The node interface tests in every package of the planning component were performed, and all of them passed.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 93.50649% with 5 lines in your changes missing coverage. Please review.

Project coverage is 30.03%. Comparing base (4c13bb0) to head (e0fbe51).
Report is 14 commits behind head on main.

Files with missing lines	Patch %	Lines
...est_manager/src/autoware_planning_test_manager.cpp	82.75%	5 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9882      +/-   ##
==========================================
+ Coverage   29.84%   30.03%   +0.19%     
==========================================
  Files        1434      526     -908     
  Lines      108037    47452   -60585     
  Branches    42951    21137   -21814     
==========================================
- Hits        32246    14254   -17992     
+ Misses      72662    31596   -41066     
+ Partials     3129     1602    -1527     

Flag	Coverage Δ
differential	30.03% <93.50%> (?)
total	?

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