fix: ignore roll and pitch for creating drivable_area (tier4#205)

* ignore current roll/pitch

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* apply pre-commit

* autoware_utils -> tier4_autoware_utils

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

planning/behavior_path_planner/src/utilities.cpp

@@ -880,7 +880,8 @@ OccupancyGrid generateDrivableArea(
     const double yaw = tf2::getYaw(current_pose.pose.orientation);
     const double origin_offset_x_m = (-width / 4) * cos(yaw) - (-height / 2) * sin(yaw);
     const double origin_offset_y_m = (-width / 4) * sin(yaw) + (-height / 2) * cos(yaw);
-    grid_origin.pose.orientation = current_pose.pose.orientation;
+    // Only current yaw should be considered as the orientation of grid_origin.
+    grid_origin.pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
     grid_origin.pose.position.x = current_pose.pose.position.x + origin_offset_x_m;
     grid_origin.pose.position.y = current_pose.pose.position.y + origin_offset_y_m;
     grid_origin.pose.position.z = current_pose.pose.position.z;