fix(behavior_path_planner): suppress reseting root lanelet

[kosuke55]

Description

suppress reseting root lanelet.

root lanelet is not updated when

• receiving same uuid route (e.g. rerouting with modifiled goal )
• failing getting closest lanelet while any approved module is running

Related links

Parent Issue:

• Link

How was this PR tested?

2024/10/21 https://evaluation.tier4.jp/evaluation/reports/698116ac-225c-5427-9e03-ada876229a76/?project_id=prd_jt

before

lc_avoid_goal-2024-10-17_11.18.37.mp4

after

avoidance_pull_over-2024-10-21_20.11.39.mp4

avoidance_pull_over-2024-10-21_19.43.54.mp4

I also checked that root lanelet update when lc -> pull over

lc_pull_over-2024-10-21_19.57.04.mp4

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 50.00000% with 2 lines in your changes missing coverage. Please review.

Project coverage is 28.25%. Comparing base (06adbc4) to head (52961d2).
Report is 4 commits behind head on main.

Files with missing lines	Patch %	Lines
...or_path_planner/src/behavior_path_planner_node.cpp	0.00%	1 Missing ⚠️
...ware_behavior_path_planner/src/planner_manager.cpp	66.66%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9129      +/-   ##
==========================================
- Coverage   28.26%   28.25%   -0.02%     
==========================================
  Files        1306     1312       +6     
  Lines      101091   101136      +45     
  Branches    39243    39245       +2     
==========================================
- Hits        28573    28572       -1     
- Misses      69761    69807      +46     
  Partials     2757     2757              

Flag	Coverage Δ		*Carryforward flag
differential	17.08% <50.00%> (?)
total	28.26% <ø> (-0.01%)	⬇️	Carriedforward from 06adbc4

*This pull request uses carry forward flags. Click here to find out more.

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[soblin]

if is_any_approved_module_running, then when the ego path is on the middle of two lanes while avoiding, ReferencePath can suddenly switch to the next lane. To prevent it, while modules are running, do not call this (resetCurrentRouteLanelet is called when lane_change successfully finished.)

[kosuke55]

@satoshi-ota could you please check code owner?

[satoshi-ota]

Looks good to me.