feat(behavior_path_planner): stop lane_driving planners in non-lane-driving scenario

[TakaHoribe]

Description

Deactivate lane_driving planners (behavior_path_planner, behavior_velocity_planner, obstacle_stop_planner, etc) in non-lane-driving scenario. In the implementation, let the behavior_path_planner subscribe to the scenario topic and run only when the scenario is lane_driving, which is the same way employed in the parking planner module.

Related links

for autoware_launch:
tier4/autoware_launch#275

Tests performed

Run planning simulator in oss-sample map (kashiwanoha) and checked if the switching between the lane-driving and parking works correctly.

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[codecov]

Codecov Report

Merging #668 (503163d) into main (973cc80) will decrease coverage by 0.02%.
The diff coverage is 0.00%.

❗ Current head 503163d differs from pull request most recent head 7b938a6. Consider uploading reports for the commit 7b938a6 to get more accurate results

@@            Coverage Diff             @@
##             main     #668      +/-   ##
==========================================
- Coverage   10.61%   10.59%   -0.03%     
==========================================
  Files         734      732       -2     
  Lines       51660    51760     +100     
  Branches     6596     6596              
==========================================
  Hits         5482     5482              
- Misses      41718    41818     +100     
  Partials     4460     4460              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.62% <0.00%> (+0.01%)	⬆️	Carriedforward from 9affde2

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

Impacted Files	Coverage Δ
...or_path_planner/src/behavior_path_planner_node.cpp	0.00% <0.00%> (ø)
...i_object_tracker/src/multi_object_tracker_core.cpp	0.00% <0.00%> (ø)
...lanner/include/obstacle_avoidance_planner/node.hpp	0.00% <0.00%> (ø)
...tracker/src/tracker/model/pass_through_tracker.cpp
...ect_tracker/tracker/model/pass_through_tracker.hpp

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[yukkysaito]

LGTM