Testing the Dense Urban ODD Scenarios in AWSIM Labs using Scenario Simulator

[armaganarsln]

Scenario testing for Dense Urban ODD is ongoing and failed scenarios improved and fixed in the meantime.

To understand the improvement more clearly and see before/after performance I will like to request scenario testing in AWSIM as a last step after the changes are made and PR is ready for review.

To achieve this I will ask @Aysenayilmaz and @ahmeddesokyebrahim to create the initial prototype for some of the scenarios and start testing and publish the results in another discussion linking this feature request.

A preliminary work has been done under freespace parking planner could be checked here: autowarefoundation/autoware_universe#8342 (comment)

We will keep updating this request in the upcoming weeks and share the scenarios and environment required for testing.