invalid argument at interpolation validateKeys()

[taikitanaka3]

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

[component_container_mt-52] terminate called after throwing an instance of 'std::invalid_argument'
[component_container_mt-52]   what():  Either base_keys or query_keys is not sorted.
[ERROR] [component_container_mt-52]: process has died [pid 21779, exit code -6, cmd '/opt/ros/galactic/lib/rclcpp_components/component_container_mt --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning --params-file /tmp/launch_params_b1m0l4fr'].

The way to solve this

1. allow same query key
   this PR

2. Do not insert same query key to add "DOUBLE_EPSILON" (= 1e-6 for temporary)
   

   autoware.universe/planning/behavior_velocity_planner/src/utilization/path_utilization.cpp

   Line 111 in b0e4852

   if (s_in.at(j) < s_out.at(i) + DOUBLE_EPSILON && s_out.at(i) < s_in.at(j + 1)) {

3. purge resampling points when query is very small enough
   might affect other modules

Expected behavior

without invalid argument

Actual behavior

node dies

Steps to reproduce

1. run AW
2. set goal
   then node dies

Versions

• OS 20.04
• galactic

Possible causes

No response

Additional context

No response

[taikitanaka3]

this is fixed by blindspot inserting zero index same point so I close this but if this happened again I will reopen
#1674