fix(lane_change): lane change module changes output path intentionally without approval

[satoshi-ota]

Description

Bug: Lane change module change it's output path without approval, and it is an unexpected behavior.

simplescreenrecorder-2023-03-11_13.32.34.mp4

---

In this PR, it set waitApproval() in onEntry() in order to block plan() execution at first time in following run() function.

autoware.universe/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp

Lines 135 to 153 in e4bcc86

	virtual BehaviorModuleOutput run()
	{
	current_state_ = ModuleStatus::RUNNING;
	updateData();
	if (!isWaitingApproval()) {
	return plan();
	}
	// module is waiting approval. Check it.
	if (isActivated()) {
	RCLCPP_DEBUG(logger_, "Was waiting approval, and now approved. Do plan().");
	return plan();
	} else {
	RCLCPP_DEBUG(logger_, "keep waiting approval... Do planCandidate().");
	return planWaitingApproval();
	}
	}

Test perform

1.set option COMPILE_WITH_OLD_ARCHITECTURE to FALSE

autoware.universe/planning/behavior_path_planner/CMakeLists.txt

Line 10 in 2ace0d2

set(COMPILE_WITH_OLD_ARCHITECTURE TRUE)

2.disable rtc auto mode

/**:
  ros__parameters:
    module_list:
      - "blind_spot"
      - "crosswalk"
      - "detection_area"
      - "intersection"
      - "no_stopping_area"
      - "traffic_light"
      # - "ext_request_lane_change_left"
      # - "ext_request_lane_change_right"
      - "lane_change_left"
      - "lane_change_right"
      - "avoidance_left"
      - "avoidance_right"
      - "pull_over"
      - "pull_out"

    default_enable_list:
      - "blind_spot"
      - "crosswalk"
      - "detection_area"
      - "intersection"
      - "no_stopping_area"
      - "traffic_light"
      # - "lane_change_left"
      # - "lane_change_right"
      - "avoidance_left"
      - "avoidance_right"
      - "pull_over"
      - "pull_out"

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (d8c826c) 11.95% compared to head (9c19b9f) 11.95%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3051   +/-   ##
=======================================
  Coverage   11.95%   11.95%           
=======================================
  Files        1324     1324           
  Lines       92113    92113           
  Branches    24625    24625           
=======================================
  Hits        11012    11012           
  Misses      69686    69686           
  Partials    11415    11415           

Flag	Coverage Δ		*Carryforward flag
differential	5.56% <ø> (?)
total	11.95% <ø> (ø)		Carriedforward from d8c826c

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

Impacted Files	Coverage Δ
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <ø> (ø)

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[zulfaqar-azmi-t4]

LGTM!