feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): revert pr7710 and Check next_lane_id in createTargetPoint on stop line

[yhisaki]

Description

1. Revert this PR
2. In the previous implementation, it was checked whether the lane_id of the intersection between the stop line and the path matched the lane_id held by the module. However, for points on the path near the end of a lane, the lane_id might become the next/previous lane_id of the original id due to the resampling of PathWithLaneId. Therefore, if the stop_line is near the end of a lane, the check for matching lane_ids at the intersection might fail. To address this, even if the lane_id at the intersection does not match the intended id of the stop_line_module, the next lane_id and the previous lane_id of the lane_id are allowed.
   The figure below illustrates the issue that occurs in the previous implementation. The red x represents the PathPointWithLaneId before resampling, the green x represents the PathPointWithLaneId after resampling, the blue lines represent the actual lane boundaries, and the purple line represents the stop_line. Ideally, the stop_line should intersect at a point with lane_id=30134, but due to the resampling effect, it is mistakenly determined to intersect at a point with lane_id=30322.

Tests performed

tested on psim

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 64.00000% with 9 lines in your changes missing coverage. Please review.

Project coverage is 28.42%. Comparing base (f28ccd8) to head (f117c9d).
Report is 1476 commits behind head on main.

Files with missing lines	Patch %	Lines
...e_behavior_velocity_stop_line_module/src/scene.cpp	0.00%	6 Missing ⚠️
...avior_velocity_detection_area_module/src/scene.cpp	50.00%	1 Missing ⚠️
...topping_area_module/src/scene_no_stopping_area.cpp	0.00%	1 Missing ⚠️
...elocity_virtual_traffic_light_module/src/scene.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7896      +/-   ##
==========================================
- Coverage   28.43%   28.42%   -0.01%     
==========================================
  Files        1588     1592       +4     
  Lines      116175   116235      +60     
  Branches    49542    49549       +7     
==========================================
+ Hits        33032    33044      +12     
- Misses      74131    74195      +64     
+ Partials     9012     8996      -16     

Flag	Coverage Δ		*Carryforward flag
differential	16.05% <64.00%> (?)
total	28.43% <ø> (-0.01%)	⬇️	Carriedforward from 915c102

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[takayuki5168]

getNextLaneletWithinRoute should be used instead of getNextLanelets

[takayuki5168]

Please add a previous lanes as well.

[takayuki5168]

Please add a comment since this change is not straightforward.

[yhisaki]

getNextLaneletWithinRoute should be used instead of getNextLanelets

It seems that there is a bug in the behavior_velocity_planner where the route is not subscribed, and the getNextLaneletsWithinRoute function cannot be used. In the future, I would like to fix this bug, but temporarily, I addressed it by using getNextLanelets.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[mitsudome-r]

@yhisaki @takayuki5168 Do you still need this modification? I suggest you to revert it quickly if you need to since it will bring more conflicts.