fix(start_planner): publish stop path when goal is behind from ego

[TakaHoribe]

Description

The path is not well calculated when the goal is set behind from ego.

before:

Now since the plan for a backward direction is not supported, add a function in the start_planner to skip planning when the ego is behind from ego with a warning message.

after:

Related links

TIERIV internal link

Tests performed

run psim

Link for scenario test in TIERIV

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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[kosuke55]

thanks, LGTM!!

[codecov]

Codecov Report

Patch coverage: 20.06% and project coverage change: +0.03 🎉

Comparison is base (8c982e5) 14.16% compared to head (a35f4e2) 14.20%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4214      +/-   ##
==========================================
+ Coverage   14.16%   14.20%   +0.03%     
==========================================
  Files        1586     1597      +11     
  Lines      109537   109835     +298     
  Branches    31451    31504      +53     
==========================================
+ Hits        15518    15603      +85     
- Misses      77130    77283     +153     
- Partials    16889    16949      +60     

Flag	Coverage Δ		*Carryforward flag
differential	13.67% <2.68%> (?)
total	14.23% <27.56%> (+0.06%)	⬆️	Carriedforward from 0795882

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

Impacted Files	Coverage Δ
...r4_planning_rviz_plugin/src/tools/max_velocity.cpp	0.00% <0.00%> (ø)
control/shift_decider/src/shift_decider.cpp	0.00% <ø> (ø)
...ction_based_fusion/src/roi_cluster_fusion/node.cpp	0.00% <0.00%> (ø)
...object_clustering/radar_object_clustering_node.hpp	0.00% <0.00%> (ø)
...t_clustering_node/radar_object_clustering_node.cpp	0.00% <0.00%> (ø)
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <ø> (ø)
...nner/scene_module/lane_change/external_request.hpp	0.00% <ø> (ø)
...ath_planner/scene_module/lane_change/interface.hpp	100.00% <ø> (+50.00%)	⬆️
...r_path_planner/scene_module/lane_change/normal.hpp	0.00% <ø> (ø)
...cene_module/start_planner/start_planner_module.hpp	0.00% <ø> (ø)
... and 29 more

... and 7 files with indirect coverage changes

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