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fix(start_planner): check safety only when waiting approval (#5792) #2168

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fix(start_planner): check safety only when waiting approval (#5792)

fix(start_planner): check safety only when waiting approval (#5792) #2168

Triggered via pull request December 8, 2023 05:16
@kyoichi-sugaharakyoichi-sugahara
synchronize #1064
kyoichi-sugahara:beta/v0.18.0+PR5792
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