fix(static_centerline_optimizer): fix several bugs and refactor the code

[takayuki5168]

Description

Fixed the several bugs of static_centerline_optimizer

• Added a path_smoother' optimization in the static_centerline_optimizer which was removed unexpectedly when the path_smoother package was separated from the obstacle_avoidance_planner.
• Added lanelet::utils::overwriteLaneletsCenterline(map_ptr, 5.0, false);, which is called from the map_loader package, to make the planning's behavior the same as the usual path planning of the Autoware.
• resampled the path with the same interval of the behavior_path_planner (2.0 by yaml) and behavior_velocity_planner (1.0 by hard coding).
• Changed to call the optimization calculation of the initial settings several times
  • since the initial optimization is sometimes unstable due to the warm start.

Refactored the static_centerline_optimizer

• removed successive_trajectory_optimizer_node.cpp/hpp by
  • adding getter functions of the optimizers in the path_smoother/obstacle_avoidance_planner packages
  • creating their nodes and optimizers' instances by calling the getter functions from the nodes

Tests performed

offline centerline generation + psim.
TIER IV internal ticket: https://tier4.atlassian.net/browse/RT1-2252

Effects on system behavior

Some bugs are fixed.

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[codecov]

Codecov Report

Attention: 34 lines in your changes are missing coverage. Please review.

Comparison is base (eb09f68) 15.22% compared to head (436533b) 15.25%.

Files	Patch %	Lines
...optimizer/src/static_centerline_optimizer_node.cpp	41.07%	1 Missing and 32 partials ⚠️
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	66.66%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6022      +/-   ##
==========================================
+ Coverage   15.22%   15.25%   +0.02%     
==========================================
  Files        1751     1751              
  Lines      120898   120944      +46     
  Branches    36778    36806      +28     
==========================================
+ Hits        18407    18449      +42     
+ Misses      81813    81784      -29     
- Partials    20678    20711      +33     

Flag	Coverage Δ		*Carryforward flag
differential	33.28% <43.33%> (?)
total	15.22% <ø> (-0.01%)	⬇️	Carriedforward from eb09f68

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