Change shift to park when vehicle stops

[lilyildiz]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

In autoware.universe, shift does not change when vehicle stopped. After initialized vehicle, vehicle's shift is parking until goal_position set. However, when vehicle arrived to goal, autoware keeps shift in drive.

Related discussion

Purpose

Change shift to GearCommand::PARK when vehicle stops.

Possible approaches

Subscribe to /autoware/state in shift_decider node and change the shift to GearCommand::PARK when vehicle arrives to the goal position.

Definition of done

• Subscribe to /autoware/state in shift_decider.cpp
• Change the shift to GearCommand::PARK in shift_decider.cpp when AutowareState::ARRIVED_GOAL is received