fix(avoidance): turn off blinker when the ego return original lane (autowarefoundation#6300)

* refactor(path_shifter): add id to ShiftLine

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): turn off blinker when the ego return original lane

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): use threshold param

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): use lambda

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Author: satoshi-ota

planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp

@@ -17,9 +17,11 @@
 
 #include <rclcpp/clock.hpp>
 #include <rclcpp/logging.hpp>
+#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <geometry_msgs/msg/point.hpp>
+#include <unique_identifier_msgs/msg/uuid.hpp>
 
 #include <optional>
 #include <string>
@@ -31,9 +33,13 @@ using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
+using tier4_autoware_utils::generateUUID;
+using unique_identifier_msgs::msg::UUID;
 
 struct ShiftLine
 {
+  ShiftLine() : id(generateUUID()) {}
+
   Pose start{};  // shift start point in absolute coordinate
   Pose end{};    // shift start point in absolute coordinate
 
@@ -45,6 +51,9 @@ struct ShiftLine
 
   size_t start_idx{};  // associated start-point index for the reference path
   size_t end_idx{};    // associated end-point index for the reference path
+
+  // for unique_id
+  UUID id{};
 };
 using ShiftLineArray = std::vector<ShiftLine>;