fix(start_planner): plan freespace pull over even if any path has never been found

[kosuke55]

Description

Currently isStuck() return false if any path has never been found before, and do not plan freespace pull over.
In this PR, fix stuck conditions to plan.

Related links

Tests performed

psim

tier4 internal scenario test

miraikan_freespace_pull_over-2023-08-08_19.29.43.mp4

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +0.05% 🎉

Comparison is base (0dae23f) 14.80% compared to head (ec7e5c8) 14.85%.
Report is 5 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4561      +/-   ##
==========================================
+ Coverage   14.80%   14.85%   +0.05%     
==========================================
  Files        1527     1527              
  Lines      105594   106125     +531     
  Branches    32065    32495     +430     
==========================================
+ Hits        15636    15768     +132     
- Misses      72887    73119     +232     
- Partials    17071    17238     +167     

Flag	Coverage Δ		*Carryforward flag
differential	13.14% <0.00%> (?)
total	14.80% <ø> (+<0.01%)	⬆️	Carriedforward from 0dae23f

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

Files Changed	Coverage Δ
.../scene_module/goal_planner/goal_planner_module.cpp	6.73% <0.00%> (+0.69%)	⬆️

... and 6 files with indirect coverage changes

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