feat(surround_obstacle_checker): make parameters more tunable

[takayuki5168]

Description

Currently, the footprint margin cannot be changed depending on the object label

This PR enables

• footprint margins depending on object's label

  • e.g.
    

• footprint margins depending on front, side, and back

  • e.g.
    

Parameters' change

• Just check dynamic object but pointcloud
• Side margin for vehicle objects is 0.
  • The ego may have to start when the object is laterally close. The slow down feature by obstacle_cruise_planner adjusts the velocity in this case.

Tests performed

planning simulator
scenario simulator: https://evaluation.tier4.jp/evaluation/reports/1277aee0-04b7-5319-b6ec-9fedac39ec4c?project_id=prd_jt

Effects on system behavior

nothing

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01% ⚠️

Comparison is base (576acf1) 15.93% compared to head (7196be0) 15.92%.
Report is 3 commits behind head on main.

❗ Current head 7196be0 differs from pull request most recent head fc6a56f. Consider uploading reports for the commit fc6a56f to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4925      +/-   ##
==========================================
- Coverage   15.93%   15.92%   -0.01%     
==========================================
  Files        1580     1580              
  Lines      108920   108984      +64     
  Branches    33612    33612              
==========================================
  Hits        17358    17358              
- Misses      72947    73011      +64     
  Partials    18615    18615              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	15.94% <ø> (+<0.01%)	⬆️	Carriedforward from 576acf1

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

Files Changed	Coverage Δ
...ion/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp	0.00% <ø> (ø)
...ing/surround_obstacle_checker/src/debug_marker.cpp	0.00% <0.00%> (ø)
planning/surround_obstacle_checker/src/node.cpp	0.00% <0.00%> (ø)

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[satoshi-ota]

@takayuki5168 Is it ok to remove use_dynamic_object because there are some products which doesn't use perception module?