feat(behavior_velocity_planner): enable auto mode without rtc_auto_mode_manager

[kyoichi-sugahara]

Description

Enable auto mode without service from rtc_auto_mode_manager.
launcher change is in this PR

Related links

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Notes for reviewers

Interface changes

Effects on system behavior

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.75 ⚠️

Comparison is base (14bb892) 15.06% compared to head (8ba2c6c) 14.32%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4054      +/-   ##
==========================================
- Coverage   15.06%   14.32%   -0.75%     
==========================================
  Files        1508     1576      +68     
  Lines      103774   108314    +4540     
  Branches    31705    31836     +131     
==========================================
- Hits        15632    15511     -121     
- Misses      71123    75911    +4788     
+ Partials    17019    16892     -127     

Flag	Coverage Δ		*Carryforward flag
differential	9.44% <0.00%> (?)
total	14.43% <ø> (-0.64%)	⬇️	Carriedforward from 9d5f315

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

Impacted Files	Coverage Δ
...ction_based_fusion/src/roi_cluster_fusion/node.cpp	0.00% <ø> (ø)
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...e/behavior_path_planner/utils/avoidance/helper.hpp	35.71% <ø> (+11.20%)	⬆️
...er/src/scene_module/avoidance/avoidance_module.cpp	12.67% <ø> (+0.67%)	⬆️
...ath_planner/src/scene_module/avoidance/manager.cpp	8.42% <ø> (+1.48%)	⬆️
...ner/src/utils/start_planner/geometric_pull_out.cpp	11.53% <ø> (+1.19%)	⬆️
...ehavior_velocity_blind_spot_module/src/manager.cpp	34.21% <0.00%> (-2.64%)	⬇️
...behavior_velocity_crosswalk_module/src/manager.cpp	19.09% <0.00%> (+5.45%)	⬆️
...ior_velocity_detection_area_module/src/manager.cpp	39.39% <0.00%> (-3.04%)	⬇️
...avior_velocity_intersection_module/src/manager.cpp	27.73% <0.00%> (+8.12%)	⬆️
... and 2 more

... and 300 files with indirect coverage changes

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[rej55]

LGTM