feat(autoware_behavior_path_planner): remove max_module_size param (#7764)

* feat(behavior_path_planner): remove max_module_size param

The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration.

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Author: kyoichi-sugahara

planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml

@@ -9,79 +9,69 @@
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 6
-      max_module_size: 1
 
     external_request_lane_change_right:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 6
-      max_module_size: 1
 
     lane_change_left:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 5
-      max_module_size: 1
 
     lane_change_right:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 5
-      max_module_size: 1
 
     start_planner:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 0
-      max_module_size: 1
 
     side_shift:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 2
-      max_module_size: 1
 
     goal_planner:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
       priority: 1
-      max_module_size: 1
 
     static_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 4
-      max_module_size: 1
 
     avoidance_by_lane_change:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 3
-      max_module_size: 1
 
     dynamic_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 7
-      max_module_size: 1
 
     sampling_planner:
       enable_module: true
@@ -90,4 +80,3 @@
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
       priority: 16
-      max_module_size: 1

planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md

@@ -88,7 +88,6 @@ struct ModuleConfigParameters
   bool enable_simultaneous_execution_as_approved_module{false};
   bool enable_simultaneous_execution_as_candidate_module{false};
   uint8_t priority{0};
-  uint8_t max_module_size{0};
 };
 ```
 
@@ -101,7 +100,6 @@ Code is [here](https://github.com/autowarefoundation/autoware.universe/blob/b173
 | `enable_simultaneous_execution_as_candidate_module` | bool    | if true, the manager allows its scene modules to run with other scene modules as **candidate module**.                                          |
 | `enable_simultaneous_execution_as_approved_module`  | bool    | if true, the manager allows its scene modules to run with other scene modules as **approved module**.                                           |
 | `priority`                                          | uint8_t | the manager decides execution priority based on this parameter. The smaller the number is, the higher the priority is.                          |
-| `max_module_size`                                   | uint8_t | the sub-manager can run some modules simultaneously. this parameter set the maximum number of the launched modules.                             |
 
 ### Scene modules
 

planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp

@@ -205,7 +205,16 @@ class SceneModuleManagerInterface
     });
   }
 
-  bool canLaunchNewModule() const { return observers_.size() < config_.max_module_size; }
+  /**
+   * Determine if a new module can be launched. It ensures that only one instance of a particular
+   * scene module type is registered at a time.
+   *
+   * When this returns true:
+   * - A new instance of the scene module can be launched.
+   * - No other instance of the same name of scene module is currently active or registered.
+   *
+   */
+  bool canLaunchNewModule() const { return observers_.empty(); }
 
   /**
    * Determine if the module is always executable, regardless of the state of other modules.
@@ -290,7 +299,6 @@ class SceneModuleManagerInterface
         *node, ns + "enable_simultaneous_execution_as_candidate_module");
       config_.keep_last = getOrDeclareParameter<bool>(*node, ns + "keep_last");
       config_.priority = getOrDeclareParameter<int>(*node, ns + "priority");
-      config_.max_module_size = getOrDeclareParameter<int>(*node, ns + "max_module_size");
     }
 
     // init rtc configuration

planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp

@@ -25,7 +25,6 @@ struct ModuleConfigParameters
   bool enable_simultaneous_execution_as_candidate_module{false};
   bool keep_last{false};
   uint8_t priority{0};
-  uint8_t max_module_size{0};
 };
 
 struct BehaviorPathPlannerParameters