test(path_generator): add extra tests

[mitukou1109]

Description

⚠️ This PR must be merged after #511 ⚠️

This PR adds extra tests for path_generator. It includes:

• consecutive turn in a short section
• lane deviation check in a route with dense centerline
• smooth goal connection

Additionally, the test map added by #399 will be moved to autoware_lanelet2_utils/sample_map/dense_centerline so that it will be installed to the share directory.

How was this PR tested?

colcon test --event-handlers console_cohesion+ --packages-select autoware_path_generator

gives the following result:

1: [----------] 1 test from DenseCenterlineTest
1: [ RUN      ] DenseCenterlineTest.generatePath
1: [       OK ] DenseCenterlineTest.generatePath (34 ms)
1: [----------] 1 test from DenseCenterlineTest (34 ms total)
1: 
1: [----------] 1 test from PlanningModuleInterfaceTest
1: [ RUN      ] PlanningModuleInterfaceTest.NodeTestWithExceptionTrajectory
1: [ERROR] [1748514051.060987437] [path_generator]: input route is empty, ignoring...
1: [       OK ] PlanningModuleInterfaceTest.NodeTestWithExceptionTrajectory (2142 ms)
1: [----------] 1 test from PlanningModuleInterfaceTest (2142 ms total)
1: 
1: [----------] 16 tests from UtilsTest
1: [ RUN      ] UtilsTest.getPreviousLaneletWithinRoute
1: [       OK ] UtilsTest.getPreviousLaneletWithinRoute (25 ms)
1: [ RUN      ] UtilsTest.getNextLaneletWithinRoute
1: [       OK ] UtilsTest.getNextLaneletWithinRoute (25 ms)
1: [ RUN      ] UtilsTest.getLaneletsWithinRouteUpTo
1: [       OK ] UtilsTest.getLaneletsWithinRouteUpTo (26 ms)
1: [ RUN      ] UtilsTest.getLaneletsWithinRouteAfter
1: [       OK ] UtilsTest.getLaneletsWithinRouteAfter (25 ms)
1: [ RUN      ] UtilsTest.getTurnSignalRequiredEndPoint
1: [       OK ] UtilsTest.getTurnSignalRequiredEndPoint (24 ms)
1: [ RUN      ] UtilsTest.getFirstSelfIntersectionArcLength
1: [       OK ] UtilsTest.getFirstSelfIntersectionArcLength (25 ms)
1: [ RUN      ] UtilsTest.GetArcLengthOnPath
1: [WARN] [1748514051.743135134] [path_generator.utils.get_arc_length_on_path]: Input lanelet sequence or path is empty, returning 0.
1: [WARN] [1748514051.743269460] [path_generator.utils.get_arc_length_on_path]: Input lanelet sequence or path is empty, returning 0.
1: [WARN] [1748514051.743285512] [path_generator.utils.get_arc_length_on_path]: Input arc length is negative, returning 0.
1: [       OK ] UtilsTest.GetArcLengthOnPath (25 ms)
1: [ RUN      ] UtilsTest.getPathBound
1: [WARN] [1748514051.815295903] [path_generator.utils.get_arc_length_on_bounds]: Input arc length is negative, returning 0.
1: [WARN] [1748514051.815329947] [path_generator.utils.crop_line_string]: Start of crop range is larger than end, returning input as is
1: [WARN] [1748514051.815336327] [path_generator.utils.crop_line_string]: Start of crop range is larger than end, returning input as is
1: [       OK ] UtilsTest.getPathBound (73 ms)
1: [ RUN      ] UtilsTest.cropLineString
1: [WARN] [1748514051.841439991] [path_generator.utils.crop_line_string]: Start of crop range is negative, returning input as is
1: [WARN] [1748514051.841459846] [path_generator.utils.crop_line_string]: Start of crop range is larger than end, returning input as is
1: [       OK ] UtilsTest.cropLineString (26 ms)
1: [ RUN      ] UtilsTest.GetArcLengthOnBounds
1: [WARN] [1748514051.866228680] [path_generator.utils.get_arc_length_on_bounds]: Input arc length is negative, returning 0.
1: [       OK ] UtilsTest.GetArcLengthOnBounds (24 ms)
1: [ RUN      ] UtilsTest.GetArcLengthOnCenterline
1: [WARN] [1748514051.890267314] [path_generator.utils.get_arc_length_on_centerline]: Input left arc length is negative, returning 0.
1: [WARN] [1748514051.890284907] [path_generator.utils.get_arc_length_on_centerline]: Input right arc length is negative, returning 0.
1: [       OK ] UtilsTest.GetArcLengthOnCenterline (24 ms)
1: [ RUN      ] UtilsTest.modifyPathForSmoothGoalConnection
1: [       OK ] UtilsTest.modifyPathForSmoothGoalConnection (27 ms)
1: [ RUN      ] UtilsTest.refinePathForGoal
1: [       OK ] UtilsTest.refinePathForGoal (25 ms)
1: [ RUN      ] UtilsTest.extractLaneletsFromTrajectory
1: [       OK ] UtilsTest.extractLaneletsFromTrajectory (24 ms)
1: [ RUN      ] UtilsTest.isTrajectoryInsideLanelets
1: [       OK ] UtilsTest.isTrajectoryInsideLanelets (26 ms)
1: [ RUN      ] UtilsTest.isInLanelets
1: [       OK ] UtilsTest.isInLanelets (25 ms)
1: [----------] 16 tests from UtilsTest (449 ms total)
1: 
1: [----------] 8 tests from GetTurnSignalTest
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsStoppingAndBeforeFirstDesiredSection
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsStoppingAndBeforeFirstDesiredSection (33 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsStoppingAndInFirstDesiredSection
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsStoppingAndInFirstDesiredSection (32 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsMovingAndAheadOfFirstDesiredSection
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsMovingAndAheadOfFirstDesiredSection (33 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsInFirstRequiredSection
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsInFirstRequiredSection (33 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsInConflictedDesiredSection
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsInConflictedDesiredSection (33 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsInSecondRequiredSection
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsInSecondRequiredSection (33 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsInSecondDesiredSection
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsInSecondDesiredSection (33 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsOutsideSecondDesiredSection
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsOutsideSecondDesiredSection (32 ms)
1: [----------] 8 tests from GetTurnSignalTest (262 ms total)
1: 
1: [----------] 7 tests from GetFirstIntersectionArcLengthTest
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithGap
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithGap (33 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithFullCrossing
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithFullCrossing (33 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithHalfCrossing
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithHalfCrossing (33 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/Overpass
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/Overpass (33 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithStartEdgeIntersection
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithStartEdgeIntersection (32 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithIntersectionBehind
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithIntersectionBehind (32 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithIntersectionAhead
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithIntersectionAhead (32 ms)
1: [----------] 7 tests from GetFirstIntersectionArcLengthTest (228 ms total)

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[mitukou1109]

Now the test won't pass until #511 is merged.