fix(behavior_velocity): fix conflicting case of intersection and merge from private

[taikitanaka3]

Related Issue(required)

#448
bufix

Description(required)

If the ModuleIDs of Intersection and MergeFromPrivate overlap, only one of them will be registered, and the other will be skipped because of same Module name and ids, So I decided to separate the MergeFromPrivate and Intersection modules.

Review Procedure(required)

Be sure markers for merge from private is necessary to add as debug marker in autoware_launch repos of autoware.rviz

after

before(intersection module does not work because merge from private is already registered)

at odaiba latest map

cc: @yukkysaito @TakaHoribe
please reaction with 👍 if this change look good

related PR

tier4/autoware_launch#223

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[codecov]

Codecov Report

Merging #447 (576c3f0) into tier4/proposal (9ce55c7) will decrease coverage by 4.00%.
The diff coverage is 0.00%.

@@                Coverage Diff                @@
##           tier4/proposal    #447      +/-   ##
=================================================
- Coverage           10.20%   6.19%   -4.01%     
=================================================
  Files                 705      71     -634     
  Lines               49427    4872   -44555     
  Branches             6413     666    -5747     
=================================================
- Hits                 5043     302    -4741     
+ Misses              40213    4427   -35786     
+ Partials             4171     143    -4028     

Impacted Files	Coverage Δ
...nner/include/scene_module/intersection/manager.hpp	0.00% <0.00%> (ø)
...ule/intersection/scene_merge_from_private_road.hpp	0.00% <ø> (ø)
planning/behavior_velocity_planner/src/node.cpp	0.00% <0.00%> (ø)
...city_planner/src/scene_module/blind_spot/scene.cpp	0.00% <0.00%> (ø)
...ty_planner/src/scene_module/intersection/debug.cpp	0.00% <0.00%> (ø)
..._planner/src/scene_module/intersection/manager.cpp	0.00% <0.00%> (ø)
...c/scene_module/intersection/scene_intersection.cpp	0.00% <0.00%> (ø)
...ule/intersection/scene_merge_from_private_road.cpp	0.00% <0.00%> (ø)
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)
...module/no_stopping_area/scene_no_stopping_area.cpp	0.00% <ø> (ø)
... and 648 more

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[yukkysaito]

Is it possible to have a single manager and manage the intersection and merge from private area separately?

[taikitanaka3]

@yukkysaito

Is it possible to have a single manager and manage the intersection and merge from private area separately?

in short it's impossible

  void registerModule(const std::shared_ptr<SceneModuleInterface> & scene_module)
  {
    RCLCPP_INFO(
      logger_, "register task: module = %s, id = %lu", getModuleName(),
      scene_module->getModuleId());
    registered_module_id_set_.emplace(scene_module->getModuleId());
    scene_modules_.insert(scene_module);
  }

because behavior module is managed with registered module id with std::set for consistency, intersection module and merge from private should have to have unique module id as module id if it's not separated.
but lanelet already has unique ids, so there is no idea if unique module ids conflicts at some special case so, it's not good idea to handle both intersection and merge from private in the same module.

[taikitanaka3]

• release note

[tkimura4]

LGTM