feat: add node to limit trajectory velocity for apparent safety

[maxime-clem]

Description

This PR adds a node to reduce the velocity of the trajectory around obstacles.
The goal is to avoid passengers of the car feeling "unsafe" in some curves when driving close to obstacles.

Remaining TODOs:

• Finish writing tests.
• Cleanup code.
• Validate on real vehicle and finalize default parameters.

Related links

Tests performed

The new node was tested on ROS bags.

A minimal launch file to test the module on bags can be run with ros2 launch safe_velocity_adjustor safe_velocity_adjustor_bag.launch.xml.

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[codecov]

Codecov Report

Merging #690 (2efc874) into main (a2a8bec) will increase coverage by 17.62%.
The diff coverage is 26.60%.

@@            Coverage Diff             @@
##            main     #690       +/-   ##
==========================================
+ Coverage   8.98%   26.60%   +17.62%     
==========================================
  Files       1024        5     -1019     
  Lines      69428      451    -68977     
  Branches   11696      281    -11415     
==========================================
- Hits        6238      120     -6118     
+ Misses     58090      175    -57915     
+ Partials    5100      156     -4944     

Flag	Coverage Δ
differential	26.60% <26.60%> (?)
total	?

Impacted Files	Coverage Δ
...imiter/src/apparent_safe_velocity_limiter_node.cpp	0.00% <0.00%> (ø)
..._velocity_limiter/test/test_collision_distance.cpp	28.72% <28.72%> (ø)
...elocity_limiter/test/test_occupancy_grid_utils.cpp	40.00% <40.00%> (ø)
...safe_velocity_limiter/src/occupancy_grid_utils.cpp	52.27% <52.27%> (ø)
...t_safe_velocity_limiter/src/collision_distance.cpp	82.22% <82.22%> (ø)
..._perception_rviz_plugin/src/tools/unknown_pose.cpp
perception/heatmap_visualizer/src/utils.cpp
...nts/node_main_external_velocity_limit_selector.cpp
...valuator/include/planning_evaluator/parameters.hpp
...e_pursuit/src/pure_pursuit_core/planning_utils.cpp
... and 1019 more

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