The paths of behavior module and avoidance module are separated when the "enable_avoidance_over_opposite_direction" is false

[shulanbushangshu]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

The paths of behavior module and avoidance module are separated when the "enable_avoidance_over_opposite_direction" is false.The drivable area can't use the "same_direction" lanes when "enable_avoidance_over_same_direction" is true. The drivable area is restricted to the current Lanes.
The simulation is shown as below:

Expected behavior

1.When "enable_avoidance_over_opposite_direction" is false, if the drivable area can't use the "same_direction" lanes by design, the avoidance behavior should not happen.
2.When "enable_avoidance_over_opposite_direction" is false,if the drivable area can use the "same_direction" lanes by design, the drivable area should be changed.
The paths of behavior module and avoidance module should not be separated .

Actual behavior

When "enable_avoidance_over_opposite_direction" is false, the drivable area can't use the "same_direction" lanes.
The paths of behavior module and avoidance module are separated .

Steps to reproduce

1.Set "enable_avoidance_over_opposite_direction" to false
2.Start autoware planning simulator
3. Set initial position and gobal position;
4.Set obstacle(like car or bus)

Versions

1.OS: Ubuntun 20.04
2.ROS2: Galactic
3.Autoware: Autoware.universe:main

Possible causes

No response

Additional context

No response

[zulfaqar-azmi-t4]

Sorry for the mistake, I have made to PR to solve this issue.

[shulanbushangshu]

@zulfaqar-azmi-t4
Yes,the bug is fixed and I will close the issue.