refactor(lane_change): separate lane change and external request

[zulfaqar-azmi-t4]

Description

🤖[deprecated] Generated by Copilot at 4e07f4e

This pull request refactors the lane change functionality of the behavior path planner into two separate packages: behavior_path_lane_change_module and behavior_path_external_request_lane_change_module. The former handles the normal lane change behavior, while the latter handles the lane change requests from external sources. The pull request also updates the include paths, the package dependencies, the documentation, and the tests to reflect the new structure.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-5850/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-5850/planning/behavior_path_lane_change_module/

[kyoichi-sugahara]

@zulfaqar-azmi-t4
This line should be deleted to pass the test i think

autoware.universe/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp

Line 71 in dd3050a

behavior_path_planner_dir + "/config/lane_change/lane_change.param.yaml"});

[satoshi-ota]

@zulfaqar-azmi-t4 Basically, it looks good to me. After fixing above suggestions, I'll approve this PR.

[satoshi-ota]

@zulfaqar-azmi-t4 colcon test seems to fail... 🤔

[satoshi-ota]

@zulfaqar-azmi-t4 I missed AbLC test.

1: -- run_test.py: invoking following command in '/__w/autoware.universe/autoware.universe/build/behavior_path_avoidance_by_lane_change_module':
1:  - /__w/autoware.universe/autoware.universe/build/behavior_path_avoidance_by_lane_change_module/test_behavior_path_avoidance_by_lane_change_module --gtest_output=xml:/__w/autoware.universe/autoware.universe/build/behavior_path_avoidance_by_lane_change_module/test_results/behavior_path_avoidance_by_lane_change_module/test_behavior_path_avoidance_by_lane_change_module.gtest.xml
1: Running main() from gmock_main.cc
1: [==========] Running 2 tests from 1 test suite.
1: [----------] Global test environment set-up.
1: [----------] 2 tests from PlanningModuleInterfaceTest
1: [ RUN      ] PlanningModuleInterfaceTest.NodeTestWithExceptionRoute
1: unknown file: Failure
1: C++ exception with description "failed to parse arguments: Couldn't parse params file: '--params-file /__w/autoware.universe/autoware.universe/install/behavior_path_planner/share/behavior_path_planner/config/lane_change/lane_change.param.yaml'. Error: Error opening YAML file, at ./src/parser.c:270, at ./src/rcl/arguments.c:406" thrown in the test body.

[satoshi-ota]

@zulfaqar-azmi-t4

autoware.universe/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp

Lines 66 to 67 in 3d40702

	ament_index_cpp::get_package_share_directory("behavior_path_planner") +
	"/config/lane_change/lane_change.param.yaml",

[codecov]

Codecov Report

Attention: 73 lines in your changes are missing coverage. Please review.

Comparison is base (3d40702) 15.34% compared to head (555514f) 15.20%.
Report is 1 commits behind head on main.

Files	Patch %	Lines
...test/test_behavior_path_planner_node_interface.cpp	26.08%	0 Missing and 34 partials ⚠️
...test/test_behavior_path_planner_node_interface.cpp	26.08%	0 Missing and 34 partials ⚠️
...xternal_request_lane_change_module/src/manager.cpp	66.66%	0 Missing and 4 partials ⚠️
...test/test_behavior_path_planner_node_interface.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5850      +/-   ##
==========================================
- Coverage   15.34%   15.20%   -0.14%     
==========================================
  Files        1743     1760      +17     
  Lines      119950   121989    +2039     
  Branches    36480    37618    +1138     
==========================================
+ Hits        18401    18544     +143     
- Misses      80963    82579    +1616     
- Partials    20586    20866     +280     

Flag	Coverage Δ		*Carryforward flag
differential	9.29% <35.96%> (?)
total	15.34% <ø> (+<0.01%)	⬆️	Carriedforward from 3d40702

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

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[satoshi-ota]

@zulfaqar-azmi-t4 LGTM!