fix(stopline, traffic_light): fix planning factor distance value (#10245

)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp

@@ -66,8 +66,8 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path)
 
   // TODO(soblin): PlanningFactorInterface use trajectory class
   planning_factor_interface_->add(
-    path->points, trajectory->compute(*stop_point).point.pose,
-    planner_data_->current_odometry->pose, planner_data_->current_odometry->pose,
+    path->points, planner_data_->current_odometry->pose,
+    trajectory->compute(*stop_point).point.pose, trajectory->compute(*stop_point).point.pose,
     autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
     autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
     0.0 /*shift distance*/, "stopline");

planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp

@@ -82,6 +82,7 @@ void TrafficLightModuleManager::modifyPathVelocity(
     virtual_wall_marker_creator_.add_virtual_walls(
       traffic_light_scene_module->createVirtualWalls());
   }
+  planning_factor_interface_->publish();
   pub_debug_->publish(debug_marker_array);
   pub_virtual_wall_->publish(virtual_wall_marker_creator_.create_markers(clock_->now()));
   pub_tl_state_->publish(tl_state);

planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp

@@ -299,7 +299,7 @@ autoware_internal_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertS
     target_point_with_lane_id.point.pose, target_point_with_lane_id.point.pose,
     autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
     autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
-    0.0 /*shift distance*/, "");
+    0.0 /*shift distance*/, "traffic_light");
 
   return modified_path;
 }