feat: add autoware_simple_pure_pursuit package

[takayuki5168]

Description

Added a simple_pure_pursuit for the Autoware.Core's default controller

Related links

https://github.com/orgs/autowarefoundation/discussions/5365

How was this PR tested?

No tests are applied at all since the launch files are not prepared yet.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions[bot]]

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[github-actions[bot]]

Documentation URL: https://autowarefoundation.github.io/autoware.core/pr-140/ Modified URLs:

• https://autowarefoundation.github.io/autoware.core/pr-140/control/autoware_simple_pure_pursuit/

[youtalk]

@takayuki5168 First of all, please pass the 3 failing checks.

[takayuki5168]

@youtalk I was asked by @mitsudome-r -san to make this PR ready for review, but this PR is incomplete since the dependent packages are still in the autoware.universe, and with these changes, another CI failures may occur. That's why I ignore the minor CI failures for now. I'm fine with making this PR draft again if you want.

→ By removing the unnecessary commit, I found that the CI failure is only a build error. :smile:

[xmfcx]

Could you list the packages this depends that are in autoware_universe?

[takayuki5168]

@xmfcx I think it's only the autoware_universe_utils, and it was ported to the autoware_utils just yesterday. https://github.com/autowarefoundation/autoware_utils/pull/30

I will fix this PR based on the above changes.

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 81.08108% with 21 lines in your changes missing coverage. Please review.

Project coverage is 1.66%. Comparing base (4cb18f5) to head (0de2e0a). Report is 85 commits behind head on main.

Files with missing lines	Patch %	Lines
...re_simple_pure_pursuit/src/simple_pure_pursuit.cpp	81.03%	9 Missing and 2 partials :warning:
...ple_pure_pursuit/test/test_simple_pure_pursuit.cpp	81.13%	0 Missing and 10 partials :warning:

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #140       +/-   ##
==========================================
- Coverage   78.75%   1.66%   -77.10%     
==========================================
  Files          11      65       +54     
  Lines         193    8489     +8296     
  Branches       73     824      +751     
==========================================
- Hits          152     141       -11     
- Misses         11    8328     +8317     
+ Partials       30      20       -10     

Flag	Coverage Δ
differential	1.66% <81.08%> (?)
total	?

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[takayuki5168]

@xmfcx @mitsudome-r Seems that the failure of the pre-commit comes from the other package. Other than that, the required CI passed.

[takayuki5168]

@mitsudome-r Seems that all the required CI passed. I leave this PR to you.

[mitsudome-r]

I have tested with simple planning simulator that it can follow the planned trajectory. (It is not as accurate as mpc, but performance is not required for now)

https://github.com/user-attachments/assets/f29a3264-edb0-46b2-8d89-407d7c2389ec