fix(behavior_path_planner): lane change topic hz drop

[zulfaqar-azmi-t4]

Signed-off-by: Muhammad Zulfaqar Azmi zulfaqar.azmi@tier4.jp

Description

The lane change module resamples candidate path starting from start of lane changing point to the end of the target lane (or to the goal). Due to the size of resampling, the candidate path publishing rate decreases, causing the module to be slow. This PR aims to solve this by resampling the path only between lane changing start point to lane changing end point.

Related links

Tests performed

check the lane change path candidate publishing rate. It shouldn't drop very much.

ros2 topic hz /planning/path_candidate/lane_change

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[codecov]

Codecov Report

Base: 10.55% // Head: 10.54% // Decreases project coverage by -0.00% ⚠️

Coverage data is based on head (f2fabfe) compared to base (3b6f48d).
Patch has no changes to coverable lines.

❗ Current head f2fabfe differs from pull request most recent head 08292ce. Consider uploading reports for the commit 08292ce to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2545      +/-   ##
==========================================
- Coverage   10.55%   10.54%   -0.01%     
==========================================
  Files        1268     1268              
  Lines       87612    87612              
  Branches    20938    20938              
==========================================
- Hits         9246     9242       -4     
- Misses      68503    68505       +2     
- Partials     9863     9865       +2     

Flag	Coverage Δ
total	10.54% <ø> (-0.01%)	⬇️

Impacted Files	Coverage Δ
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	78.72% <0.00%> (-8.52%)	⬇️

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[shmpwk]

LGTM.
I agree using linear interpolation instead of spline since you found there was not so much difference in their Hz as you said in TIER IV internal link.

Sorry but Horibe-san will try to use spline as he said here? so for now I dismissed my approval.