Merge pull request #1301 from tier4/cp-lane-change-terminal-only

fix(lane_change): cherry-pick disable terminal path

Author: shmpwk

planning/behavior_path_lane_change_module/src/interface.cpp

@@ -129,8 +129,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()
 {
   *prev_approved_path_ = getPreviousModuleOutput().path;
 
-  BehaviorModuleOutput out;
-  out = module_type_->getTerminalLaneChangePath();
+  BehaviorModuleOutput out = getPreviousModuleOutput();
   module_type_->insertStopPoint(module_type_->getLaneChangeStatus().current_lanes, out.path);
   out.turn_signal_info =
     getCurrentTurnSignalInfo(out.path, getPreviousModuleOutput().turn_signal_info);

planning/behavior_path_lane_change_module/src/scene.cpp

@@ -1888,11 +1888,11 @@ bool NormalLaneChange::calcAbortPath()
 
   PathWithLaneId reference_lane_segment = prev_module_path_;
   {
-    const auto terminal_path =
-      calcTerminalLaneChangePath(reference_lanelets, selected_path.info.target_lanes);
-    if (terminal_path) {
-      reference_lane_segment = terminal_path->path;
-    }
+    // const auto terminal_path =
+    //   calcTerminalLaneChangePath(reference_lanelets, selected_path.info.target_lanes);
+    // if (terminal_path) {
+    //   reference_lane_segment = terminal_path->path;
+    // }
     const auto return_pose = shifted_path.path.points.at(abort_return_idx).point.pose;
     const auto seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
       reference_lane_segment.points, return_pose, common_param.ego_nearest_dist_threshold,