fix(route_handler): creating route at parking lot

[ismetatabay]

Description

At current autoware, the parking scenario cannot initiate sometimes due to route cannot be planned between ego lanelet and closest lanelet to goal pose. However since ego vehicle and goal pose in same parking lot area, we don't need to reject goal due to path planning.

This PR checks whether the start and goal poses are in the same parking lot and sends the start lanelet as the path to initiate other nodes, as a full path is not necessary for freespace planning.

Related links

Parent Issue:

• Link Parking Scenario Cannot Initiate Sometimes Due to Route Handler #8898

How was this PR tested?

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Map File

lanelet2_map.txt

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Psim

Before this PR:

2024-09-18.17-07-49.mp4

After this PR:

2024-09-18.17-11-05.mp4

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

autoware_remaining_distance_time_calculator package fails to calculate the time since the package cannot find a route between start and goal lanelet:

autoware.universe/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp

Lines 131 to 137 in d57f82d

	const lanelet::Optional<lanelet::routing::Route> optional_route =
	routing_graph_ptr_->getRoute(current_lanelet, goal_lanelet, 0);
	if (!optional_route) {
	RCLCPP_WARN_STREAM(this->get_logger(), "Failed to find proper route.");
	return;
	}

I am planning to create another PR to disable time calculation in the parking scenario, as the calculation no required during freespace driving.

[github-actions]

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