behavior_path_planner do not consistently expand the drivable area

[maxime-clem]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

The behavior_path_planner generates the drivable area which can be expanded to the left or right using the following parameters.

autoware.universe/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml

Lines 4 to 6 in a4078bd

	expand_drivable_area: false
	right_bound_offset: 0.5
	left_bound_offset: 0.5

This functionality works most of the time but there are situations when the drivable area is not expanded.

Expected behavior

The drivable area is always expanded.

Actual behavior

The drivable area is not expanded when an obstacle is near the ego path.

Steps to reproduce

1 - Update parameters to expand the drivable area.
2 - Plan a path and observe the drivable area in rviz.
- Type: DrivableArea
- Topic: /planning/scenario_planning/lane_driving/behavior_planning/path
- Recommended color scheme: costmap.
3 - Add an obstacle near the path and observe the drivable area no longer being expanded.

expanding_drivable_area_issue.mp4

Versions

No response

Possible causes

#1759 (comment)

Static expansion of drivable area is only implemented in lane_following for now.
By implementing it in other modules, you can use the static expansion in any module.

Additional context

No response

[mitsudome-r]

@maxime-clem Are you planning to create a PR to fix this issue?

[maxime-clem]

I will make a PR this week.