fix(map_based_prediction): fix too short predicted path

[tkimura4]

Description

In map_based_pridiction, there are cases where the length of predicted_path of objects is extremely short.

https://user-images.githubusercontent.com/59680180/202166907-ccff8a81-b19c-4155-9971-f728806a0c0f.mp4
(arround 0:24)

This is because the search_dist for possiblePaths() is too short to sufficiently explore far lanes.
I fixed this by adding a Frenet length of the current lane to search_dist.

Note: this can cause increase in CPU consumption.

Related links

Tests performed

@ Planning simulator
https://user-images.githubusercontent.com/59680180/202167875-1d594bfb-de97-4a47-80ef-fa0ddc9e1489.mp4
https://user-images.githubusercontent.com/59680180/202167896-532a2378-336e-4f95-8a6b-e35e7ce7ae85.mp4
https://user-images.githubusercontent.com/59680180/202167926-d6334f30-9b57-4072-8e3d-a9502d5022a2.mp4

I also confirmed that the frequency of /perception/object_recognition/objects output by map_based_prediction does not drop significantly.

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[tkimura4]

Besides bug fixes, by giving the parameter includeShorterPaths: True to possiblePaths(), I removed redundant processing.

https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/master/lanelet2_routing/include/lanelet2_routing/RoutingGraph.h#L55

bool includeShorterPaths{false}; //!< also return paths that do not reach the limits

[codecov]

Codecov Report

Base: 10.50% // Head: 10.49% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (e044a3a) compared to base (bbf26cc).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2305      +/-   ##
==========================================
- Coverage   10.50%   10.49%   -0.02%     
==========================================
  Files        1248     1248              
  Lines       90581    90697     +116     
  Branches    20705    20705              
==========================================
  Hits         9516     9516              
- Misses      70970    71086     +116     
  Partials    10095    10095              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.48% <0.00%> (ø)		Carriedforward from bbf26cc

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

Impacted Files	Coverage Δ
...ternal_cmd_selector/external_cmd_selector_node.cpp	0.00% <0.00%> (ø)
...c/pure_pursuit/pure_pursuit_lateral_controller.cpp	0.00% <0.00%> (ø)
...map_based_prediction/map_based_prediction_node.hpp	0.00% <ø> (ø)
...based_prediction/src/map_based_prediction_node.cpp	0.00% <0.00%> (ø)

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[purewater0901]

Thank you for your corrections! LGTM!