fix(behavior_velocity_planner): planning factor integration

[satoshi-ota]

Description

All behavior veloicty modules set redundant control point if the module made stop decision.

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp
index 4d8651d05c..827655daa2 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp
@@ -123,7 +123,7 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path)
 
     /* get stop point and stop factor */
     planning_factor_interface_->add(
-      path->points, planner_data_->current_odometry->pose, stop_pose.value(), stop_pose.value(),
+      path->points, planner_data_->current_odometry->pose, stop_pose.value(),
       autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
       autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/,
       0.0 /*velocity*/, 0.0 /*shift distance*/, "walkway_stop");

Related links

Parent Issue:

• feat(behavior_velocity_planner)!: remove velocity_factor completely #9943

How was this PR tested?

I confirmed modules output planning factor properly after fixing.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[soblin]

Okay except for crosswalk

[soblin]

Maybe we have start & end point for slowdown.

[satoshi-ota]

As far as I read the code, crosswalk module inserts one slow down start point, and all trajectory points are overwritten with same slow down velocity. Then, crosswalk has only one control point as well.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 22 lines in your changes missing coverage. Please review.

Project coverage is 26.04%. Comparing base (da5850e) to head (466e6bf).
Report is 6 commits behind head on main.

Files with missing lines	Patch %	Lines
...ity_intersection_module/src/scene_intersection.cpp	0.00%	15 Missing ⚠️
...avior_velocity_blind_spot_module/src/decisions.cpp	0.00%	2 Missing ⚠️
..._velocity_crosswalk_module/src/scene_crosswalk.cpp	0.00%	1 Missing ⚠️
...ction_module/src/scene_merge_from_private_road.cpp	0.00%	1 Missing ⚠️
...topping_area_module/src/scene_no_stopping_area.cpp	0.00%	1 Missing ⚠️
...e_behavior_velocity_stop_line_module/src/scene.cpp	0.00%	1 Missing ⚠️
...vior_velocity_walkway_module/src/scene_walkway.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10292      +/-   ##
==========================================
- Coverage   26.04%   26.04%   -0.01%     
==========================================
  Files        1375     1375              
  Lines      106439   106447       +8     
  Branches    40902    40899       -3     
==========================================
  Hits        27723    27723              
- Misses      76011    76018       +7     
- Partials     2705     2706       +1     

Flag	Coverage Δ		*Carryforward flag
differential	21.06% <0.00%> (?)
total	26.05% <ø> (+<0.01%)	⬆️	Carriedforward from da5850e

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