fix(lane_change): use previous module drivable lanes in drivable are generation

[satoshi-ota]

Description

In the new manager, multiple modules run simultaneously in series. (e.g. avoidance -> lane change) But, the drivable area which the previous module generated is always overwritten by next module. As a result, the output drivable area is inconsistent.

In the following scene, the avoidance module's drivable area is overwritten by lane change module at the moment of lane change execution.

In this PR, I fixed lane change drivable generation logic to use previous module's drivable lanes.

• https://user-images.githubusercontent.com/44889564/225811909-855f6556-df6a-4667-8882-dc766a8de68c.mp4

NOTE: For now, I fixed only lane change and avoidance module because the other modules are not able to execute simlutaneouly now.

Related links

Tests performed

Please set following flag to FALSE, and confirm to pass all build.

autoware.universe/planning/behavior_path_planner/CMakeLists.txt

Line 10 in ad55953

set(COMPILE_WITH_OLD_ARCHITECTURE TRUE)

simplescreenrecorder-2023-03-17_15.53.06.mp4

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (9971be3) 11.88% compared to head (37e3750) 11.88%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3102      +/-   ##
==========================================
- Coverage   11.88%   11.88%   -0.01%     
==========================================
  Files        1336     1336              
  Lines       93190    93246      +56     
  Branches    24729    24767      +38     
==========================================
  Hits        11078    11078              
- Misses      70632    70688      +56     
  Partials    11480    11480              

Flag	Coverage Δ		*Carryforward flag
differential	5.52% <0.00%> (?)
total	11.88% <ø> (+<0.01%)	⬆️	Carriedforward from 9971be3

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

Impacted Files	Coverage Δ
...ner/include/behavior_path_planner/data_manager.hpp	21.42% <ø> (ø)
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <ø> (ø)
...ehavior_path_planner/src/util/lane_change/util.cpp	0.00% <0.00%> (ø)
...em_error_monitor/src/system_error_monitor_core.cpp	0.00% <ø> (ø)

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[purewater0901]

LGTM