fix(avoidance): cherry pick PRs for avoidance issue

[satoshi-ota]

Description

https://tier4.atlassian.net/browse/RT0-29407

cherry pick following two PRs:

• fix(avoidance): don't output unfeasible path autowarefoundation/autoware.universe#4899
• fix(avoidance): exit if there is no avoidable object autowarefoundation/autoware.universe#5051

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Before this PR, since unfeasible (measingless) avoidance path whose shift length is 0.0[m] was output from avoidance module, sometimes the vehicle stucked in front of the objects. In this case, rtc interface doesn't send any avoidance cooperate status.

After this PR, avoidance module never outputs unfeasible path. Additionaly, if it is not possible to avoid object, the avoidance module doesn't insert stop point in order to prevent stuck.

Tests performed

Test with perception reproducer + rosbag.

Effects on system behavior

Not applicable.

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