feat(behavior_velocity,behavior_path,route_handler): use route handler in behavior velocity

[taikitanaka3]

Related Issue(required)

#361

Description(required)

• use setMap function in behavior velocity
• some functions in route handler will be used in occlusion spot at another PR(add detail later).

Review Procedure(required)

launch psim and see each modules works the same as before

@yukkysaito please 👍 if this change looks good

Related PR(optional)

• release note

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Read commit-guidelines
• Assign PR to reviewer

If you are adding new package following items are required:

• Documentation with description of the package is available
• A sample launch file and parameter file are available if the package contains executable nodes

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR / build-and-test-pr: Required to pass before the merge.
• Build and test for PR / clang-tidy-pr: NOT required to pass before the merge. It is up to the reviewer(s). Found false positives? See the [guidelines][clang-tidy-guidelines].
• Check spelling: NOT required to pass before the merge. It is up to the reviewer(s). See here if you want to add some words to the spell check dictionary.

[takayuki5168]

LGTM

[codecov]

Codecov Report

Merging #472 (6d48465) into main (6ded065) will decrease coverage by 8.10%.
The diff coverage is 0.00%.

@@            Coverage Diff            @@
##             main    #472      +/-   ##
=========================================
- Coverage   11.00%   2.89%   -8.11%     
=========================================
  Files         704     110     -594     
  Lines       49459   10562   -38897     
  Branches     6647     667    -5980     
=========================================
- Hits         5442     306    -5136     
+ Misses      39657   10112   -29545     
+ Partials     4360     144    -4216     

Impacted Files	Coverage Δ
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...nner/src/scene_module/pull_out/pull_out_module.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/pull_over/pull_over_module.cpp	0.00% <0.00%> (ø)
...include/behavior_velocity_planner/planner_data.hpp	0.00% <ø> (ø)
planning/behavior_velocity_planner/src/node.cpp	0.00% <0.00%> (ø)
...ty_planner/src/scene_module/blind_spot/manager.cpp	0.00% <0.00%> (ø)
...city_planner/src/scene_module/blind_spot/scene.cpp	0.00% <0.00%> (ø)
...ity_planner/src/scene_module/crosswalk/manager.cpp	0.00% <0.00%> (ø)
...locity_planner/src/scene_module/crosswalk/util.cpp	0.00% <0.00%> (ø)
...lanner/src/scene_module/detection_area/manager.cpp	0.00% <0.00%> (ø)
... and 607 more

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 6ded065...6d48465. Read the comment docs.

[rej55]

I confirm the simulation runs.
LGTM.