feat(goal_planner): update lateral_deviation_thresh from 0.3 to 0.1

[Kazunori-Nakajima]

Description

There was a lateral shift when the goal planner pathway started.
To reduce it, the value of lateral_deviation_thresh was changed from 0.3 to 0.1.

and minor refactroing by unifying similar functions

Related links

TIER IV Internal link

How was this PR tested?

Scenairo test in PSIM (I looked at the /planning/planning_evaluator/metrics/lateral_tajectory_displacement_local/max)

1._pass.mp4

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[kosuke55]

@Kazunori-Nakajima
thanks! smalll refactoring please

• hasDeviatedFromLastPreviousModulePath
• hasDeviatedFromCurrentPreviousModulePath
  These are the same processing functions with different argument names and should be unified.
  It is not necessary to use the entire planner_data, but only the current_point.

hasDeviatedFromPath(planner_data.self_odometry->pose.pose.position, last_upstream_module_output);

hasDeviatedFromPath(planner_data.self_odometry->pose.pose.position, upstream_module_output);

And could you run evaluator?

[Kazunori-Nakajima]

Run evaluator test here(TIER IV Internal link)
Evaluator test have 11 FAIL, But the problem seems to be unrelated to PR.

[kosuke55]

nits:
planner_data is too heavy to copy, and this function require only
planner_data.self_odometry->pose.pose.position.
so we can use

bool hasDeviatedFromPath(Point & ego_position, 

[kosuke55]

Point is geometry mesgs

[Kazunori-Nakajima]

Thank you very much! I see!
I fixed it.

[kosuke55]

LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 6 lines in your changes missing coverage. Please review.

Project coverage is 29.57%. Comparing base (3aa84a0) to head (1dbe87e).
Report is 29 commits behind head on main.

Files with missing lines	Patch %	Lines
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9850      +/-   ##
==========================================
- Coverage   29.58%   29.57%   -0.02%     
==========================================
  Files        1451     1456       +5     
  Lines      108964   109027      +63     
  Branches    42615    42617       +2     
==========================================
  Hits        32240    32240              
- Misses      73626    73689      +63     
  Partials     3098     3098              

Flag	Coverage Δ		*Carryforward flag
differential	0.51% <0.00%> (?)
total	29.59% <ø> (+<0.01%)	⬆️	Carriedforward from 3aa84a0

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