feat(freespace_planner): only plan if ego is stopped

[VRichardJP]

Fixes #5936

Description

See #5936 (comment)

Tests performed

Screencast.from.01-12-2024.03_57_19.PM.webm

Effects on system behavior

On a parking, freespace planner will only plan new trajectories if the vehicle is stopped. If a new obstacle is found on the current trajectory, the planner will first modify current trajectory to stop the vehicle, and only create a new trajectory once the vehicle is stopped.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[kosuke55]

Thanks! LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 55.55556% with 4 lines in your changes are missing coverage. Please review.

Project coverage is 14.58%. Comparing base (b307b3d) to head (03c5aca).
Report is 15 commits behind head on main.

❗ Current head 03c5aca differs from pull request most recent head 648fce9. Consider uploading reports for the commit 648fce9 to get more accurate results

Files	Patch %	Lines
...r/src/freespace_planner/freespace_planner_node.cpp	55.55%	1 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6062      +/-   ##
==========================================
- Coverage   14.96%   14.58%   -0.39%     
==========================================
  Files        1967     1877      -90     
  Lines      135953   127657    -8296     
  Branches    40556    37286    -3270     
==========================================
- Hits        20352    18622    -1730     
+ Misses      92946    88182    -4764     
+ Partials    22655    20853    -1802     

Flag	Coverage Δ		*Carryforward flag
differential	31.18% <55.55%> (?)
total	14.58% <ø> (-0.39%)	⬇️	Carriedforward from 81790e1

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[maxime-clem]

@TakaHoribe, @takayuki5168, can we merge this PR ?

[takayuki5168]

@maxime-clem Takeuchi-kun already approved, so I think it's fine.

[maxime-clem]

My mistake, I thought the PR was waiting for a code owner to approve, but the json-schema-check is what is blocking.
I updated the branch and if the CI passes it should be possible to merge.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.