feat(route_handler-bpp): consider lane-ego angle diff in lane following module

[mehmetdogru]

Signed-off-by: Mehmet Dogru 42mehmetdogru42@gmail.com

closes #2125

• ❗ feat(lanelet2_extension): consider lane-ego angle difference in lane following module autoware_common#148 must be merged first
• ❗ feat(lane_following): consider lane ego angle diff autoware_launch#250 must be merged first

Description

Related links

Tests performed

• Please check out also:
  • feat(lanelet2_extension): consider lane-ego angle difference in lane following module autoware_common#148
  • feat(lane_following): consider lane ego angle diff autoware_launch#250
• Make sure you use a large vehicle like isuzu bus
• Any map with narrow turns for a bus is testable
• Make sure you expand the drivable area:

   # Dynamic expansion by projecting the ego footprint along the path
    dynamic_expansion:
      enabled: true
.
.
.
      expansion:
        method: lanelet # method used to expand the drivable area. Either 'lanelet' or 'polygon'.
                         # 'lanelet': add lanelets overlapped by the ego footprints
                         # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area

Before the PR (issue):

2125_issue.mp4

After PR (fix/feat):

2125_fix.mp4

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[mehmetdogru]

friendly ping to review

[kenji-miyake]

@mehmetdogru cc @xmfcx Since there are too many reviewers, I think it's good to assign someone.

[maxime-clem]

@mehmetdogru @kenji-miyake I will review this PR.

[yukkysaito]

cc @TakaHoribe @takayuki5168

[maxime-clem]

The PR looks good. I could not consistently reproduce the issue on the main branch, but it appears to be fixed with this PR.
I ran scenarios with this PR and there is no problem (https://evaluation.tier4.jp/evaluation/reports/1c358525-5dc8-50f1-8b87-45a9fbed281a?project_id=prd_jt, private TIER IV link).

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (93e040a) 12.33% compared to head (9ac2af7) 12.33%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2732      +/-   ##
==========================================
- Coverage   12.33%   12.33%   -0.01%     
==========================================
  Files        1381     1381              
  Lines       96692    96711      +19     
  Branches    27978    27989      +11     
==========================================
+ Hits        11930    11931       +1     
- Misses      72094    72113      +19     
+ Partials    12668    12667       -1     

Flag	Coverage Δ		*Carryforward flag
differential	4.97% <0.00%> (?)
total	12.34% <0.00%> (+<0.01%)	⬆️	Carriedforward from 86b773a

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...th_planner/scene_module/scene_module_interface.hpp	0.00% <ø> (ø)
...r_path_planner/util/lane_following/module_data.hpp	0.00% <ø> (ø)
...anner/include/behavior_path_planner/util/utils.hpp	100.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.11% <0.00%> (-0.01%)	⬇️
...ehavior_path_planner/src/behavior_tree_manager.cpp	0.00% <ø> (ø)
...r_path_planner/src/marker_util/avoidance/debug.cpp	0.00% <ø> (ø)
...r_path_planner/src/marker_util/debug_utilities.cpp	0.00% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...lanner/src/scene_module/avoidance_by_lc/module.cpp	0.00% <ø> (ø)
...ane_change/external_request_lane_change_module.cpp	0.00% <ø> (ø)
... and 24 more

... and 2 files with indirect coverage changes

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[purewater0901]

Seems the owner of the code has to approve this PR, so I give the approval