feat(lane_change): support param for new framework (include external …

…lc) (autowarefoundation#248)

* feat(lane_change): support param for new framework (include external lc)

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

* rename external lane change

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

---------

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

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml

@@ -40,7 +40,25 @@
     # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE.
     # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt
     # NOTE: The smaller the priority number is, the higher the module priority is.
-    lane_change:
+    ext_request_lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution: true
+      priority: 6
+      max_module_size: 1
+
+    ext_request_lane_change_right:
+      enable_module: true
+      enable_simultaneous_execution: true
+      priority: 6
+      max_module_size: 1
+
+    lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 5
+      max_module_size: 1
+
+    lane_change_right:
       enable_module: true
       enable_simultaneous_execution: false
       priority: 4