fix(lane_change): use previous module output

[satoshi-ota]

Description

In this PR, I added new function util::getCurrentLanesFromPath to get current lanelet from not current pose but previous module output.

#ifdef USE_OLD_ARCHITECTURE
  const auto current_lanes = util::getCurrentLanes(planner_data_);
#else
  const auto current_lanes =
    util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_);
#endif

Additionaly, I added util::getCenterLinePathFromRootLanelet to output reference path that is used in next module.

#ifdef USE_OLD_ARCHITECTURE
  path_reference_ = getPreviousModuleOutput().reference_path;
  prev_approved_path_ = path;
#else
  const auto reference_path =
    util::getCenterLinePathFromRootLanelet(status_.lane_change_lanes.front(), planner_data_);
  output.reference_path = std::make_shared<PathWithLaneId>(reference_path);
  path_reference_ = std::make_shared<PathWithLaneId>(reference_path);
  prev_approved_path_ = *getPreviousModuleOutput().path;
#endif

Test in my local env

1.set option COMPILE_WITH_OLD_ARCHITECTURE to FALSE

autoware.universe/planning/behavior_path_planner/CMakeLists.txt

Line 10 in 2ace0d2

set(COMPILE_WITH_OLD_ARCHITECTURE TRUE)

2.set enable_simultaneous_execution to true (lane_change, avoidance only)

...
    lane_change:
      enable_module: true
      enable_simultaneous_execution: true
      priority: 4
      max_module_size: 1
...
    avoidance:
      enable_module: true
      enable_simultaneous_execution: true
      priority: 3
      max_module_size: 1

https://github.com/autowarefoundation/autoware_launch/blob/17eed3623580804896d1a9417c1a49c7098deca8/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml#L41-L69

simplescreenrecorder-2023-03-10_09.34.48.mp4

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[satoshi-ota]

@zulfaqar-azmi-t4 I fixed some bugs, so could your review this PR?

[codecov]

Codecov Report

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

Comparison is base (90b7576) 11.93% compared to head (bd33811) 11.92%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3042      +/-   ##
==========================================
- Coverage   11.93%   11.92%   -0.01%     
==========================================
  Files        1321     1321              
  Lines       91991    92010      +19     
  Branches    24566    24576      +10     
==========================================
- Hits        10978    10976       -2     
- Misses      69654    69676      +22     
+ Partials    11359    11358       -1     

Flag	Coverage Δ		*Carryforward flag
differential	5.55% <0.00%> (?)
total	11.93% <ø> (-0.01%)	⬇️	Carriedforward from 90b7576

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

Impacted Files	Coverage Δ
...lanner/include/behavior_path_planner/utilities.hpp	23.80% <ø> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	7.58% <0.00%> (-0.12%)	⬇️

... and 1 file with indirect coverage changes

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[zulfaqar-azmi-t4]

So far it seems fine

cap-.2023-03-10-18-47-33.mp4.mp4

[zulfaqar-azmi-t4]

LGTM

Additional note:

1. I have set enable_module: false for pull over/out and side_shift for this to work.