fix(freespace_planner): fix motion_velocity_smoother error while parking

[ahmeddesokyebrahim]

Description

fixes #6379

Related links

This PR is one of group of PRs that aim to fix Autoware logging system to achieve the goal of reducing excessive error and warning logs on Autoware launch.

Part of:

• Reduce excessive error and warning logs on Autoware launch #5539

Tests performed

• Before this PR : https://youtu.be/uMZYI2kcKsQ
• After this PR : https://youtu.be/tWVWTjEptbY

Notes for reviewers

Root Cause

• freespace_planner publishes a stop trajectory with 1 point, that is happening only in first parking cycle (that is why the error is not throttling and occurring only once)
• motion_velocity_smoother subscribes to this trajectory and does checkData() on it.
• When it finds the trajectory has points less than 2, motion_velocity_smoother logs the mentioned error and discards the trajectory.

Proposed Solution

• Generating a stop trajectory in first parking cycle is not needed, as the vehicle already stops before actually starting parking.
• I propose adding new flag is_new_parking_cycle_ which is set by true with every new route planned for parking.
• When it comes to new parking route, the flag prevents freespace_planner to publish stop trajectory.
• In further cycles, freespace_planner can generate stop trajectory before re-planning whenever needed.

Interface changes

N.A

Effects on system behavior

The error mentioned in #6379 is no longer occuring.

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[codecov]

Codecov Report

Attention: Patch coverage is 50.00000% with 5 lines in your changes are missing coverage. Please review.

Project coverage is 14.94%. Comparing base (dd19bb8) to head (579bda0).
Report is 3 commits behind head on main.

❗ Current head 579bda0 differs from pull request most recent head 01bfb5a. Consider uploading reports for the commit 01bfb5a to get more accurate results

Files	Patch %	Lines
...r/src/freespace_planner/freespace_planner_node.cpp	50.00%	1 Missing and 4 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6713      +/-   ##
==========================================
- Coverage   14.99%   14.94%   -0.06%     
==========================================
  Files        1972     1939      -33     
  Lines      136468   133678    -2790     
  Branches    42300    39757    -2543     
==========================================
- Hits        20470    19979     -491     
+ Misses      93248    91456    -1792     
+ Partials    22750    22243     -507     

Flag	Coverage Δ		*Carryforward flag
differential	31.67% <50.00%> (?)
total	14.94% <ø> (-0.06%)	⬇️	Carriedforward from 031c873

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

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[mehmetdogru]

@takayuki5168

Could you assign somebody to review this PR?

[takayuki5168]

Sorry to be late, and thank you for your contribution!