lane_select: parameterize minimum_dt

this MR is rewrite of https://github.com/autowarefoundation/autoware/pull/2299

Related Merge Request

utilities!3 (merged)

Bug fix

Fixed bug

https://github.com/autowarefoundation/autoware/blob/master/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_select/lane_select_core.cpp#L804

The minimum number of lookahead waypoints is too small (only the previous closest_waypoint+1) when searching closest_waypoint. If the interval of the waypoint is narrow (ex. every 0.1m), the search may fail because the search range is too small. It is better to be able to search further.

Fix applied

I have parameterized the minimum number of lookahead waypoints, the default value is 5 (up to the previous closest_waypoint+4). Parameters can be changed from launch file or Autoware Runtime Manager.

Installation

Please use lane_select_minimum_dt_param.repos.