fix(goal_planner): fix zero velocity in middle of path

[kosuke55]

Description

When extending a path, if the end of the original target path contains 0 velocity, then 0 velocity remains in the middle of the extended_path. This causes more stuck before the goal.
This issue was observed when the goal planner was activated after the LC was activated, for example.

  // NOTE: The previous module may insert a zero velocity at the end of the path, so remove it by
  // setting remove_connected_zero_velocity=true. Inserting a velocity of 0 into the goal is the
  // role of the goal planner, and the intermediate zero velocity after extension is unnecessary.

before

after

Related links

Parent Issue:

• Link

Private Links:

• https://tier4.atlassian.net/browse/RT0-31696

How was this PR tested?

• psim
• 2024/08/21 https://evaluation.tier4.jp/evaluation/reports/fbeded6b-7456-58ba-a6af-a39e9288b3f0/?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 5 lines in your changes missing coverage. Please review.

Project coverage is 24.09%. Comparing base (603dd13) to head (f935ee8).
Report is 8 commits behind head on main.

Files	Patch %	Lines
...are_behavior_path_goal_planner_module/src/util.cpp	0.00%	3 Missing ⚠️
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	1 Missing ⚠️
...r_path_goal_planner_module/src/shift_pull_over.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8563      +/-   ##
==========================================
- Coverage   24.10%   24.09%   -0.01%     
==========================================
  Files        1399     1403       +4     
  Lines      102460   102498      +38     
  Branches    38936    38928       -8     
==========================================
  Hits        24696    24696              
- Misses      75281    75319      +38     
  Partials     2483     2483              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	24.10% <ø> (+<0.01%)	⬆️	Carriedforward from 7234eb4

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[kosuke55]

@soblin

I added comment why it is ok to remove zero velocity of previous output path

  // NOTE: The previous module may insert a zero velocity at the end of the path, so remove it by
  // setting remove_connected_zero_velocity=true. Inserting a velocity of 0 into the goal is the
  // role of the goal planner, and the intermediate zero velocity after extension is unnecessary.