feat: wait until autonomous mode is enabled

[tkimura4]

Description

The current automatic_goal_sender is set to call the /api/operation_mode/change_to_autonomous service as soon as /api/routing/state becomes RouteState::SET. However, in this state, Planning may still be in preparation, and autonomous_mode may not be ready. In such situations, the automatic_goal_sender process crashes as shown in the message below. I have modified the code to wait for autonomous_mode to be ready before calling the change_to_autonomous service.

automatic_goal_sender-1] [INFO 1720670631.443807582] [automatic_goal_sender]: Achieved goals will be saved in: /home/kimura/git/pilot-auto.x2/src/evaluation/autoware_awsim_evaluation_tools/src/awsim_evaluation_launcher/config/odaibagoals_achieved.log
[automatic_goal_sender-1] [INFO 1720670632.443782270] [automatic_goal_sender]: G0 (89067.52, 42360.04, 2.17): Goal set as the next. Planning in progress...
[automatic_goal_sender-1] [INFO 1720670632.943799086] [automatic_goal_sender]: G0 (89067.52, 42360.04, 2.17): Route has been planned. Route starting...
[automatic_goal_sender-1] [ERROR 1720670632.944549606] [automatic_goal_sender]: Service type "N22autoware_adapi_v1_msgs3srv19ChangeOperationModeE" status: 1, The target mode is not available. Please check the diagnostics.

Related links

none

Tests performed

I verified with the Planning_simulator that the automatic_goal_sender operates correctly in situations where Planning takes time to prepare.

$ros2 launch autoware_launch planning_simulator.launch.xml vehicle_id:=default vehicle_model:=[VEHICLE_MODEL] sensor_model:=[SENSOR_MODEL] map_path:=[MAP_PATH]
$ros2 launch tier4_automatic_goal_rviz_plugin automatic_goal_sender.launch.xml goals_list_file_path:=[GOAL_LIST_PATH] goals_achieved_dir_path:=[PATH]

Notes for reviewers

none

Interface changes

none

Effects on system behavior

none ( This is a feature not used in regular autonomous driving. )

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[shmpwk]

LGTM