fix(pure_pursuit): return zero curvature when neighboring idx isn't found

[kyoichi-sugahara]

Description

When candidate point for the curvature calculation isn't found, 0 is returned to avoid unnecessary warnings.

But there is a still space to solve this probelem by

• shifting closest point so that enough distance can be gotten.
• changing distane from the closest point between forward direction and backward direction.

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[codecov]

Codecov Report

Base: 11.80% // Head: 11.83% // Increases project coverage by +0.02% 🎉

Coverage data is based on head (71001b3) compared to base (1fdcab3).
Patch has no changes to coverable lines.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2891      +/-   ##
==========================================
+ Coverage   11.80%   11.83%   +0.02%     
==========================================
  Files        1319     1319              
  Lines       92309    92109     -200     
  Branches    24794    24719      -75     
==========================================
- Hits        10899    10898       -1     
+ Misses      70051    69916     -135     
+ Partials    11359    11295      -64     

Flag	Coverage Δ		*Carryforward flag
differential	13.52% <ø> (?)
total	11.83% <ø> (+0.02%)	⬆️	Carriedforward from 5dafa4c

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

Impacted Files	Coverage Δ
...c/pure_pursuit/pure_pursuit_lateral_controller.cpp	0.00% <ø> (ø)
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	85.71% <0.00%> (-2.39%)	⬇️
planning/obstacle_stop_planner/src/node.cpp	0.00% <0.00%> (ø)
...erception/traffic_light_classifier/src/nodelet.cpp	0.00% <0.00%> (ø)
...lanning/obstacle_stop_planner/src/debug_marker.cpp	0.00% <0.00%> (ø)
...anning/obstacle_stop_planner/src/planner_utils.cpp	0.00% <0.00%> (ø)
planning/obstacle_avoidance_planner/src/node.cpp	0.12% <0.00%> (+<0.01%)	⬆️
control/mpc_lateral_controller/src/mpc_utils.cpp	57.27% <0.00%> (+0.26%)	⬆️
...path_planner/test/test_drivable_area_expansion.cpp	59.30% <0.00%> (+25.30%)	⬆️

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[brkay54]

Thank you for your work! LGTM!

[taikitanaka3]

@kyoichi-sugahara
IMO
I think it's better to use prev_idx and next_idx a certain distance far from closest_idx with threshold.
What do you think?

 prev_index,<--->closest index <--->next_idx

[kyoichi-sugahara]

@taikitanaka3
I think your proposal method is expected behavior in the current implementation

[taikitanaka3]

@kyoichi-sugahara
TODO: write down TODOs for calculating curvature.

[kyoichi-sugahara]

checked warnings are not outputted

pure_pursuit_without_warnings.mp4

[taikitanaka3]

LGTM

[TakaHoribe]

thank you!