refactor(static_obstacle_avoidance): organize params for drivable lane

[satoshi-ota]

Description

We don't expect to set params for drivable lane as follow:

use_adjacent_lane: false
use_opposite_lane: true

However, we were able to do that in previous config structure.

I fixed it to prevent unexpected paramter configuration.

Related links

Parent Issue:

⚠️ Please approve this PR at first.

• refactor(static_obstacle_avoidance): organize params for drivable lane autoware_launch#1042

How was this PR tested?

Psim

      # drivable lane setting. this module is able to use not only current lane but also right/left lane
      # if the current lane(=lanelt::Lanelet) and the rignt/left lane share the boundary(=lanelet::Linestring) in HDMap.
      # "current_lane"           : use only current lane. this module doesn't use adjacent lane to avoid object.
      # "same_direction_lane"    : this module uses same direction lane to avoid object if need.
      # "opposite_direction_lane": this module uses both same direction and opposite direction lane.
      use_lane_type: "same_direction_lane"

      # drivable lane setting. this module is able to use not only current lane but also right/left lane
      # if the current lane(=lanelt::Lanelet) and the rignt/left lane share the boundary(=lanelet::Linestring) in HDMap.
      # "current_lane"           : use only current lane. this module doesn't use adjacent lane to avoid object.
      # "same_direction_lane"    : this module uses same direction lane to avoid object if need.
      # "opposite_direction_lane": this module uses both same direction and opposite direction lane.
      use_lane_type: "opposite_direction_lane"

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[go-sakayori]

Suggested change

	"default": "true"
	"default": "current_lane"

[satoshi-ota]

Ahhhhhhhh.....

[satoshi-ota]

I fixed it in 65ace5a.

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-7715/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-7715/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/

[codecov]

Codecov Report

Attention: Patch coverage is 80.00000% with 1 line in your changes missing coverage. Please review.

Project coverage is 13.66%. Comparing base (507e3f4) to head (65ace5a).
Report is 156 commits behind head on main.

Files	Patch %	Lines
...ath_static_obstacle_avoidance_module/src/utils.cpp	75.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #7715       +/-   ##
===========================================
- Coverage   14.84%   13.66%    -1.19%     
===========================================
  Files        1999      255     -1744     
  Lines      139163    26592   -112571     
  Branches    43716     5169    -38547     
===========================================
- Hits        20661     3633    -17028     
+ Misses      95731    22430    -73301     
+ Partials    22771      529    -22242     

Flag	Coverage Δ
differential	13.66% <80.00%> (?)
total	?

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