fix(behavior_velocity_planner): fix safety slow down crosswalk intersection check

[mehmetdogru]

Signed-off-by: Mehmet Dogru 42mehmetdogru42@gmail.com

Related PR: #1528

Description

Small bug / when there is no intersection between safety slow down crosswalk and the path bvp crashes.

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[codecov]

Codecov Report

Merging #1708 (f7fc3a9) into main (d9fae78) will decrease coverage by 0.02%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1708      +/-   ##
==========================================
- Coverage   10.25%   10.23%   -0.03%     
==========================================
  Files        1199     1199              
  Lines       86374    86575     +201     
  Branches    19891    20035     +144     
==========================================
  Hits         8860     8860              
- Misses      68294    68489     +195     
- Partials     9220     9226       +6     

Flag	Coverage Δ		*Carryforward flag
differential	4.13% <0.00%> (?)
total	10.24% <0.00%> (ø)		Carriedforward from d9fae78

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ner/src/scene_module/crosswalk/scene_crosswalk.cpp	0.00% <0.00%> (ø)

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[beyzanurkaya]

Before these changes, the module was working as in the video below. Although crosswalk_module was registered, the package was crashing because there was no intersection between path and crosswalk.

test-before-changes.mp4

But after this changes it works as in this video:

test-after-changes.mp4

Problem is solved with these changes.