fix(start_planner): use non shifted path is shift line idx invalid

[zulfaqar-azmi-t4]

Description

While Shift Pull Out module in the start planner is planning for path, the path shifter's generation fails because the lateral shift distance is small during the start-up from the central line, resulting in the start_idx and end_idx being the same.

This PR aims to fix this by inserting non_shifted_path during the start_idx - end_idx <= 1 situation.

Related links

None

Tests performed

In the start planner's param file, set enable_back: false

place ego pose as follows

position x: 61444.953125 
position y: 56224.13671875
orientation z: -0.0680803539122891
orientation w: 0.997679841137014

and goal pose as follows

position x: 61396.
position y: 56226.2
orientation z: 0.27939585430954345
orientation w: 0.9601760029258388

And confirm that Shift Pull Out module is running.
Also the behavior path planner container should be alive.

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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[kosuke55]

@zulfaqar-azmi-t4
thanks very much! the code looks good! but this PR fixed issue when enable_back: false.
The lateral shift distance is too short and fails to generate a shifted path.
I think the problem of Description when enable_back: true is different from this PR.

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (d4bb8bd) 14.22% compared to head (64ad32c) 14.22%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4227      +/-   ##
==========================================
- Coverage   14.22%   14.22%   -0.01%     
==========================================
  Files        1594     1594              
  Lines      109681   109685       +4     
  Branches    31487    31489       +2     
==========================================
  Hits        15603    15603              
- Misses      77132    77136       +4     
  Partials    16946    16946              

Flag	Coverage Δ		*Carryforward flag
differential	13.66% <0.00%> (?)
total	14.22% <ø> (ø)		Carriedforward from d4bb8bd

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

Impacted Files	Coverage Δ
...planner/src/utils/start_planner/shift_pull_out.cpp	2.89% <0.00%> (-0.09%)	⬇️

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[kosuke55]

LGTM!