Debug the visualization of the drivable area.

[YoshihiroMichishita-PT]

Description

Related ticket: https://tier4.atlassian.net/browse/RT1-5061

The current postProcess in static_drivable_area.cpp does not work when backing (is_driving_forward=false), and that results in as follows:

To resolve this problem, I have changed three points:

1. Delete the reverse process because this process does not match the later processes. (L1504-L1506 in the current static_drivable_area.cpp)
2. Choose goal_idx as the more far point from start_idx and add the medium point between start_idx and goal_idx even when start_idx > goal_idx in order to work properly when is_driving_forward=false . (L1530~ in the current static_drivable_area.cpp)
3. Perform an emergent measure on a bad visualization in a certain situation, by normalizing adaptive_width . (L84 in display.hpp)

Test performed

I have compared the visualization of the drivable area after applying the above changes to the original one , which is shown in the JIRA ticket:https://tier4.atlassian.net/browse/RT1-5061

Effect on the visualization of the drivable area.

When just backing, it works well. When backing after driving forward, it sometimes shows a short drivable area. (So the bug may still remains)

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[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[xmfcx]

@shmpwk could you look into this PR?

[shmpwk]

I close this PR since this PR was re-organized in #7182 🙏