fix(behavior_path_planner): fix reservation of predicted path

[rej55]

Signed-off-by: Fumiya Watanabe rej55.g@gmail.com

Related Issue(required)

Description(required)

The size of path in autoware_auto_perception_msgs::msg::PredictedPath is limited to 100.
However, in behavior_path_planner package, it may reserve the path points over 100.
In this PR, I fixed it.

Review Procedure(required)

Please run the car on the long path with lane change without auto approval.
To turn-off the auto approval, please comment out here.
https://github.com/tier4/autoware_launch/blob/31fe5912a2d4eb5caadc6803df85ff14f78318ff/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py#L352-L364

Related PR(optional)

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Read commit-guidelines
• Assign PR to reviewer

If you are adding new package following items are required:

• Documentation with description of the package is available
• A sample launch file and parameter file are available if the package contains executable nodes

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR / build-and-test-pr: Required to pass before the merge.
• Build and test for PR / clang-tidy-pr: NOT required to pass before the merge. It is up to the reviewer(s). Found false positives? See the [guidelines][clang-tidy-guidelines].
• Check spelling: NOT required to pass before the merge. It is up to the reviewer(s). See here if you want to add some words to the spell check dictionary.

[codecov]

Codecov Report

Merging #474 (5e30d70) into main (8142ef1) will decrease coverage by 10.97%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #474       +/-   ##
==========================================
- Coverage   10.97%   0.00%   -10.98%     
==========================================
  Files         704      34      -670     
  Lines       49556    4846    -44710     
  Branches     6647       0     -6647     
==========================================
- Hits         5440       0     -5440     
+ Misses      39754    4846    -34908     
+ Partials     4362       0     -4362     

Impacted Files	Coverage Δ
planning/behavior_path_planner/src/utilities.cpp	0.00% <0.00%> (ø)
common/interpolation/src/linear_interpolation.cpp
map/lanelet2_extension/test/src/test_projector.cpp
...wer/include/trajectory_follower/mpc_trajectory.hpp
...ning_evaluator/include/planning_evaluator/stat.hpp
...em/system_monitor/reader/msr_reader/msr_reader.cpp
...n/shape_estimation/lib/corrector/car_corrector.cpp
...rc/ad_service_state_monitor_node/state_machine.cpp
...ker/src/tracker/model/multiple_vehicle_tracker.cpp
...und_segmentation/src/ray_ground_filter_nodelet.cpp
... and 661 more

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 8142ef1...5e30d70. Read the comment docs.

[tkimura4]

Before merging PR:

behavior_path_planner died with the following error message with lane change situation.

[component_container_mt-13] terminate called after throwing an instance of 'std::length_error'
[component_container_mt-13]   what():  Exceeded upper bound
[ERROR] [component_container_mt-13]: process has died [pid 599240, exit code -6, cmd '/opt/ros/galactic/lib/rclcpp_components/component_container_mt --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning --params-file /tmp/launch_params_vs5ks4pu'].

[tkimura4]

After merging PR:
behavior_path_planner is not died with lane change situation.

[tkimura4]

LGTM