feat(behavior_velocity_planner): make debug.cpp

[takayuki5168]

Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

create debug.cpp for common debug functions.

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[codecov]

Codecov Report

Merging #1773 (9030724) into main (6075e60) will decrease coverage by 0.06%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1773      +/-   ##
==========================================
- Coverage   10.38%   10.32%   -0.07%     
==========================================
  Files        1212     1213       +1     
  Lines       87407    88518    +1111     
  Branches    20282    21103     +821     
==========================================
+ Hits         9080     9139      +59     
- Misses      68846    69808     +962     
- Partials     9481     9571      +90     

Flag	Coverage Δ		*Carryforward flag
differential	4.29% <0.00%> (?)
total	10.37% <0.00%> (ø)		Carriedforward from 22359b1

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

Impacted Files	Coverage Δ
..._planner/include/scene_module/blind_spot/scene.hpp	0.00% <ø> (ø)
...city_planner/src/scene_module/blind_spot/debug.cpp	0.00% <0.00%> (ø)
...city_planner/src/scene_module/blind_spot/scene.cpp	0.00% <0.00%> (ø)
..._planner/src/scene_module/detection_area/debug.cpp	0.00% <0.00%> (ø)
...ty_planner/src/scene_module/intersection/debug.cpp	0.00% <0.00%> (ø)
...lanner/src/scene_module/no_stopping_area/debug.cpp	0.00% <0.00%> (ø)
..._planner/src/scene_module/occlusion_spot/debug.cpp	0.00% <0.00%> (ø)
...ehavior_velocity_planner/src/utilization/debug.cpp	0.00% <0.00%> (ø)
...ocity_planner/src/utilization/path_utilization.cpp	18.91% <ø> (ø)
...city_planner/include/utilization/state_machine.hpp	37.93% <0.00%> (-12.07%)	⬇️
... and 19 more

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[taikitanaka3]

@takayuki5168
can you fix this?

[taikitanaka3]

for other debug markers LGTM

[taikitanaka3]

@takayuki5168
this will cause scale error in rviz please consider this value same as intersection.

Suggested change

	debug_data_.path_raw, "path_raw", lane_id_, now, 0.3, 0.0, 0.0, 0.0, 1.0, 1.0),
	debug_data_.path_raw, "path_raw", lane_id_, now, 0.6, 0.3, 0.3, 0.0, 1.0, 1.0),

[takayuki5168]

22359b1
DONE

[taikitanaka3]

@takayuki5168
is this PR ready?

[takayuki5168]

@taikitanaka3 Sorry, yes!

[taikitanaka3]

I found this fix is necessary for generateBlindSpotPolygons L 472

  if (!lane_ids.empty()) {
    lane_ids.pop_back();
  }

[taikitanaka3]

TODO：
fix blindspot lane ids