fix(behavior_path_planner): resample path in the route

[takayuki5168]

Description

Resampled path_with_lane_id is supposed to be used, but actually not used.

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[takayuki5168]

@rej55 @TakaHoribe Could you review the PR.
I will confirm the planning simulator works well with the PR.

[TakaHoribe]

LGTM

[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (d4708ce) 12.21% compared to head (9a0db42) 12.21%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3179   +/-   ##
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  Coverage   12.21%   12.21%           
=======================================
  Files        1352     1352           
  Lines       94313    94313           
  Branches    26776    26776           
=======================================
  Hits        11517    11517           
  Misses      70636    70636           
  Partials    12160    12160           

Flag	Coverage Δ		*Carryforward flag
differential	5.51% <0.00%> (?)
total	12.21% <ø> (+<0.01%)	⬆️	Carriedforward from d4708ce

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

Impacted Files	Coverage Δ
planning/behavior_path_planner/src/utilities.cpp	7.57% <0.00%> (ø)

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[VRichardJP]

How come this was not caught by gcc warnings?
All autoware cmake packages should normally inherit -Wall -Wextra -Wpedantic -Werror (from autoware_package()).
-Wall adds -Wunused-value, which should have prevented the old code from compiling with -Werror. It does not seem like behavior_path_planner have any -Wno-*, so how come?

[takayuki5168]

@VRichardJP I also expected the warning. I'm not sure why.

[VRichardJP]

Is it a bug from GCC?

If I try something like this:

  const auto resampled_path_with_lane_id = motion_utils::resamplePath(
    raw_path_with_lane_id, parameter.input_path_interval, parameter.enable_akima_spline_first);
  const auto test = malloc(1);
  return raw_path_with_lane_id;

I get the error:

/home/sig/autoware/src/universe/autoware.universe/planning/behavior_path_planner/src/utilities.cpp: In function ‘autoware_auto_planning_msgs::msg::PathWithLaneId behavior_path_planner::util::getCenterLinePath(const route_handler::RouteHandler&, const ConstLanelets&, const Pose&, double, double, const BehaviorPathPlannerParameters&, double)’:
/home/sig/autoware/src/universe/autoware.universe/planning/behavior_path_planner/src/utilities.cpp:1982:14: error: unused variable ‘test’ [-Werror=unused-variable]
 1982 |   const auto test = malloc(1);
      |              ^~~~
cc1plus: all warnings being treated as errors

Somehow resampled_path_with_lane_id is not caught as unused value. I also test with clang, it does not detect this either.

[VRichardJP]

Today I learned:
https://stackoverflow.com/questions/5302848/g-does-not-show-a-unused-warning