feat(behavior_path_planner): safety check against dynamic objects after approval in manual mode

[kyoichi-sugahara]

Description

In goal_planner module,
After approval from request cooperate commnad is sent, it was not possible to check safety against dynamic objects.

Flow is below

I added a feature to safety check after approval and if feasible stop can be achieved, vehicle will stop as shown below.

Screencast.from.2023.09.08.15.24.23.webm

Tests performed

• PASS TIER IV INTERNAL TEST

Interface changes

None

Effects on system behavior

WIP

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[codecov]

Codecov Report

Patch coverage: 19.04% and project coverage change: +0.13% 🎉

Comparison is base (82006db) 15.80% compared to head (48c130d) 15.94%.
Report is 3 commits behind head on main.

❗ Current head 48c130d differs from pull request most recent head afcd9a7. Consider uploading reports for the commit afcd9a7 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4927      +/-   ##
==========================================
+ Coverage   15.80%   15.94%   +0.13%     
==========================================
  Files        1580     1580              
  Lines      109179   108994     -185     
  Branches    33646    33611      -35     
==========================================
+ Hits        17258    17376     +118     
+ Misses      73313    73023     -290     
+ Partials    18608    18595      -13     

Flag	Coverage Δ		*Carryforward flag
differential	17.75% <19.04%> (?)
total	15.92% <ø> (+0.11%)	⬆️	Carriedforward from 5eda95a

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

Files Changed	Coverage Δ
.../scene_module/goal_planner/goal_planner_module.hpp	13.33% <ø> (ø)
...optimizer/src/static_centerline_optimizer_node.cpp	15.76% <ø> (ø)
.../scene_module/goal_planner/goal_planner_module.cpp	8.56% <19.04%> (+0.95%)	⬆️

... and 31 files with indirect coverage changes

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[kosuke55]

for auto-approval mode the following is need?

bool GoalPlannerModule::isExecutionReady() const
{
  if(isActivated() && status_.is_safe_dynamic_obejcts){
    // some processing?
    return true;
  }

[kosuke55]

not In?

[kosuke55]

and this function does not change the current path.
just change output and status_.prev_stop_path_after_approval.

[kyoichi-sugahara]

In my understanding, both @param [in] and @param is acceptable, but not so sure....

[kosuke55]

sorry, talked about the function name setStopPathInCurrentPath

[kosuke55]

From?

[kyoichi-sugahara]

changed in c288508

[kosuke55]

LGTM!

[kosuke55]

#4927 (review)
this comment is not caused by this PR, so will fix in other PR