feat(lane_change): support new framework

[zulfaqar-azmi-t4]

Description

⬇️ This must be merged before this PR.
autowarefoundation/autoware_launch#239

Related links

• feat(behavior_path_planner): add new manager independent from behavior tree #2919
• feat(lane_change): add config for new framework autoware_launch#239

Tests performed

Before perfoming test, please comment out module names which haven't supported new framework yet in rtc_auto_mode_manager.param.yaml. -->

/**:
  ros__parameters:
    module_list:
      - "blind_spot"
      - "crosswalk"
      - "detection_area"
      - "intersection"
      - "no_stopping_area"
      - "traffic_light"
      # - "ext_request_lane_change_left"
      # - "ext_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
      # - "avoidance_left"
      # - "avoidance_right"
      # - "pull_over"
      # - "pull_out"

Please set following flag to FALSE, and confirm to pass all build.

autoware.universe/planning/behavior_path_planner/CMakeLists.txt

Line 10 in ad55953

set(COMPILE_WITH_OLD_ARCHITECTURE TRUE)

Launch Psim and check the avoidance module working correctly.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +0.81 🎉

Comparison is base (c432281) 11.93% compared to head (3a9400d) 12.74%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3016      +/-   ##
==========================================
+ Coverage   11.93%   12.74%   +0.81%     
==========================================
  Files        1321     1219     -102     
  Lines       91943    86079    -5864     
  Branches    24525    24533       +8     
==========================================
- Hits        10976    10974       -2     
+ Misses      69609    63745    -5864     
- Partials    11358    11360       +2     

Flag	Coverage Δ		*Carryforward flag
differential	5.58% <0.00%> (?)
total	12.76% <ø> (+0.82%)	⬆️	Carriedforward from f02aa4c

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

Impacted Files	Coverage Δ
...havior_path_planner/behavior_path_planner_node.hpp	0.00% <ø> (ø)
...er/scene_module/lane_change/lane_change_module.hpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.14% <0.00%> (-0.01%)	⬇️
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	80.95% <0.00%> (-4.77%)	⬇️
...erception/traffic_light_classifier/src/nodelet.cpp	0.00% <0.00%> (ø)
.../src/scene_module/side_shift/side_shift_module.cpp	0.00% <0.00%> (ø)
...th_planner/scene_module/scene_module_interface.hpp	0.00% <0.00%> (ø)
..._vendor/_deps/tensorrt-src/samples/common/common.h
... and 101 more

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[zulfaqar-azmi-t4]

Degradation test results, build with USE_OLD_ARCHITECTURE = TRUE
TIER IV internal link

Degradation test results, build with USE_OLD_ARCHITECTURE = FALSE
TIER IV internal link