feat(intersection,crosswalk): add creep functionality

[yhisaki]

Description

This PR introduces a "Creep" feature controllable via the RTC (Remote Teleoperation Control) interface. This allows an operator to command the vehicle to slowly inch forward past the stop line, which is useful for resolving stuck situations (e.g., at crosswalks or intersections).

Key Changes

autoware_rtc_interface

• Added CreepCommands service and relevant message types.
• Implemented logic to check if creep is supported and triggered for a specific module UUID.

behavior_velocity_crosswalk_module

• Implemented planCreeping: When triggered, the vehicle moves at a low speed (3 km/h) beyond the stop line up to a calculated "deadline" pose.
• Added logic to handle yield states while creeping.

behavior_velocity_intersection_module

• Added logic to shift the effective stop line forward by a configured margin (creep_stopline_margin) when the creep command is active.
• Allows the vehicle to nudge forward into the intersection area for better visibility or to resolve deadlocks.

behavior_velocity_rtc_interface

• Updated the base classes to propagate the creep trigger state to the individual scene modules.

Test

tested by using real vehicle.

https://tier4.atlassian.net/wiki/x/FoBiGAE

Related PRs

• feat(tier4_rtc_msgs): add creep command and response messages, and update cooperate status tier4_autoware_msgs#207
• feat: add creep command service and client to RTC module tier4_ad_api_adaptor#196
• feat(intersection): add creep_stopline_margin parameter to behavior_velocity_planner configuration autoware_launch#1258
• feat(rtc_manager_rviz_plugin): add creep functionality to RTCManagerPanel autoware_tools#26

[sonarqubecloud]

Quality Gate passed

Issues
10 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud