fix(behavior_velocity_planner_common): fix unregister process

[yuki-takagi-66]

Description

This PR fix unregister process problem of behavior_velocity_plannner modules which introduced by #9212

By the above PR, The variable registered_module_id_set_ for RTC-independent modules was not being cleared.
This PR fix this issue.

Related links

How was this PR tested?

psim and tier4 scenario tests

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[satoshi-ota]

LGTM. Thanks you.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 29.37%. Comparing base (bb66275) to head (dab3426).
Report is 27 commits behind head on main.

Files with missing lines	Patch %	Lines
...velocity_planner_common/scene_module_interface.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9913      +/-   ##
==========================================
- Coverage   29.37%   29.37%   -0.01%     
==========================================
  Files        1446     1447       +1     
  Lines      108399   108417      +18     
  Branches    42235    42235              
==========================================
+ Hits        31844    31845       +1     
- Misses      73471    73489      +18     
+ Partials     3084     3083       -1     

Flag	Coverage Δ		*Carryforward flag
differential	27.27% <0.00%> (?)
total	29.37% <ø> (ø)		Carriedforward from bb66275

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

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[soblin]

I double-checked same process is done in

• autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/src/scene_module_interface_with_rtc.cpp

  Lines 110 to 129 in 9c0e183

  	void SceneModuleManagerInterfaceWithRTC::deleteExpiredModules(
  	const tier4_planning_msgs::msg::PathWithLaneId & path)
  	{
  	const auto isModuleExpired = getModuleExpiredFunction(path);
  	auto itr = scene_modules_.begin();
  	while (itr != scene_modules_.end()) {
  	if (isModuleExpired(*itr)) {
  	const UUID uuid = getUUID((*itr)->getModuleId());
  	updateRTCStatus(
  	uuid, (*itr)->isSafe(), State::SUCCEEDED, std::numeric_limits<double>::lowest(),
  	clock_->now());
  	removeUUID((*itr)->getModuleId());
  	registered_module_id_set_.erase((*itr)->getModuleId());
  	itr = scene_modules_.erase(itr);
  	} else {
  	itr++;
  	}
  	}
  	}

• autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp

  Lines 448 to 469 in 9c0e183

  	void IntersectionModuleManager::deleteExpiredModules(
  	const tier4_planning_msgs::msg::PathWithLaneId & path)
  	{
  	const auto isModuleExpired = getModuleExpiredFunction(path);
  	auto itr = scene_modules_.begin();
  	while (itr != scene_modules_.end()) {
  	if (isModuleExpired(*itr)) {
  	// default
  	removeRTCStatus(getUUID((*itr)->getModuleId()));
  	removeUUID((*itr)->getModuleId());
  	// occlusion
  	const auto intersection_module = std::dynamic_pointer_cast<IntersectionModule>(*itr);
  	const auto occlusion_uuid = intersection_module->getOcclusionUUID();
  	occlusion_rtc_interface_.removeCooperateStatus(occlusion_uuid);
  	registered_module_id_set_.erase((*itr)->getModuleId());
  	itr = scene_modules_.erase(itr);
  	} else {
  	itr++;
  	}
  	}
  	}