fix(behavior_velocity_virtual_traffic_light_module): properly use the VirtualWallMarkerCreator and set unique namespace (#3839)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Author: maxime-clem

planning/behavior_velocity_virtual_traffic_light_module/src/debug.cpp

@@ -52,28 +52,15 @@ namespace
 
 visualization_msgs::msg::MarkerArray VirtualTrafficLightModule::createVirtualWallMarkerArray()
 {
-  visualization_msgs::msg::MarkerArray wall_marker;
-
   const auto & d = module_data_;
-  const auto now = clock_->now();
-
   // virtual_wall_stop_line
-  if (d.stop_head_pose_at_stop_line) {
-    appendMarkerArray(
-      virtual_wall_marker_creator_->createStopVirtualWallMarker(
-        {*d.stop_head_pose_at_stop_line}, "virtual_traffic_light", now),
-      &wall_marker, now);
-  }
-
+  std::vector<geometry_msgs::msg::Pose> wall_poses;
+  if (d.stop_head_pose_at_stop_line) wall_poses.push_back(*d.stop_head_pose_at_stop_line);
   // virtual_wall_end_line
-  if (d.stop_head_pose_at_end_line) {
-    appendMarkerArray(
-      virtual_wall_marker_creator_->createStopVirtualWallMarker(
-        {*d.stop_head_pose_at_end_line}, "virtual_traffic_light", now),
-      &wall_marker, now);
-  }
+  if (d.stop_head_pose_at_end_line) wall_poses.push_back(*d.stop_head_pose_at_end_line);
 
-  return wall_marker;
+  return virtual_wall_marker_creator_->createStopVirtualWallMarker(
+    wall_poses, "virtual_traffic_light", clock_->now(), 0.0, std::to_string(module_id_));
 }
 
 visualization_msgs::msg::MarkerArray VirtualTrafficLightModule::createDebugMarkerArray()