feat(mission_planner): reroute with current route start pose when triggered by modifed goal

[kosuke55]

Description

Rerouting from the current ego position during a run is a potential source of bugs, as it is necessary to be aware of cases where the planner's internally maintained lanes are no longer included in the route.
Rerouting with modifed goal assumes a slight modification near the goal lane. It is assumed that ego and goal are at least an extension of current_route. Therefore, the start pose of current_route is used as the start pose. This prevents the route from being shortened by rerouting.

Related links

• fix(route_handler): make new route continuous with previous route #8238
• fix(behavior_path_planner): suppress reseting root lanelet #9129

Private Links:

• https://tier4.atlassian.net/browse/RT1-7972

How was this PR tested?

psim

2024/10/28 Evaluator

before (planned new route is short)

avoidance_pull_over-2024-10-21_20.11.39.mp4

after:

lc_avoid_goal-2024-10-22_12.34.10.mp4

2024/10/22 https://evaluation.tier4.jp/evaluation/reports/c6bf8b79-f69b-507e-a8b3-a2220d5dd22a/?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 25.00000% with 12 lines in your changes missing coverage. Please review.

Project coverage is 28.25%. Comparing base (06adbc4) to head (b1b59a6).
Report is 50 commits behind head on main.

Files with missing lines	Patch %	Lines
...on_planner/src/mission_planner/mission_planner.cpp	0.00%	6 Missing ⚠️
...nning/autoware_route_handler/src/route_handler.cpp	40.00%	3 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9136      +/-   ##
==========================================
- Coverage   28.26%   28.25%   -0.01%     
==========================================
  Files        1306     1310       +4     
  Lines      101091   101128      +37     
  Branches    39243    39250       +7     
==========================================
+ Hits        28573    28577       +4     
- Misses      69761    69792      +31     
- Partials     2757     2759       +2     

Flag	Coverage Δ		*Carryforward flag
differential	29.42% <25.00%> (?)
total	28.26% <ø> (+<0.01%)	⬆️	Carriedforward from 66e4742

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