fix(behavior_velocity_planner): do not consider stop_line_margin when a stop line is defined at map in crosswalk module

[tkimura4]

Signed-off-by: tomoya.kimura tomoya.kimura@tier4.jp

Description

In crosswalk module, the parameter stop_line_distance should be considered only when the explicit stop_line is not defined in lanelet.
(
It is described in the parameter description

autoware.universe/planning/behavior_velocity_planner/config/crosswalk.param.yaml

Line 7 in 30e968e

stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists

)

But, in the current implementation, stop_line_distance is always considered, and the position of stop lines in crosswalk and walkway module are misaligned.

I fixed it.

Related links

Tests performed

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[codecov]

Codecov Report

Base: 10.28% // Head: 10.25% // Decreases project coverage by -0.02% ⚠️

Coverage data is based on head (f570e23) compared to base (30e968e).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1978      +/-   ##
==========================================
- Coverage   10.28%   10.25%   -0.03%     
==========================================
  Files        1158     1158              
  Lines       82151    82327     +176     
  Branches    19120    19260     +140     
==========================================
  Hits         8446     8446              
- Misses      64564    64735     +171     
- Partials     9141     9146       +5     

Flag	Coverage Δ		*Carryforward flag
differential	4.24% <0.00%> (?)
total	10.26% <0.00%> (ø)		Carriedforward from 30e968e

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

Impacted Files	Coverage Δ
...ner/src/scene_module/crosswalk/scene_crosswalk.cpp	0.00% <0.00%> (ø)

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