fix(lane_change): fix lane change force approval by rtc

[tkimura4]

Signed-off-by: tomoya.kimura [email protected]

Description

Fix lane change force approval.

In current implementation, when there are no safe path ( collision-free path against obstacles ), the state of lane change module becomes SUCCESS, and the lane change module finishes soon.
As a result, when there are no safe path, even if lane change module was activated by rtc,the lane change is not executed.
I fixed it.

Related links

#2379

Tests performed

Before:
https://user-images.githubusercontent.com/59680180/212894751-b90c2be7-fb58-404d-a6a0-9b8cef02a9d5.mp4
(The lane change module was approved by rtc three times but the lane change was not executed
until the obstacle is removed.)
After:
https://user-images.githubusercontent.com/59680180/212895191-9fed9fd0-e156-4607-9028-f50f2d92de33.mp4

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[codecov]

Codecov Report

Base: 11.38% // Head: 11.35% // Decreases project coverage by -0.03% ⚠️

Coverage data is based on head (cab1fc9) compared to base (11c0c8d).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2672      +/-   ##
==========================================
- Coverage   11.38%   11.35%   -0.04%     
==========================================
  Files        1277     1277              
  Lines       89236    89517     +281     
  Branches    23622    23789     +167     
==========================================
+ Hits        10161    10162       +1     
- Misses      68305    68566     +261     
- Partials    10770    10789      +19     

Flag	Coverage Δ		*Carryforward flag
differential	4.94% <0.00%> (?)
total	11.38% <0.00%> (ø)		Carriedforward from 11c0c8d

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

Impacted Files	Coverage Δ
...er/scene_module/lane_change/lane_change_module.hpp	0.00% <ø> (ø)
...ene_module/lane_change/lane_change_module_data.hpp	0.00% <ø> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...r/src/scene_module/pull_out/geometric_pull_out.cpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.27% <0.00%> (+0.11%)	⬆️

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[kosuke55]

LGTM