refactor(pid_longitudinal_controller): set stopped state if ego is not in autonomous mode

[brkay54]

Description

In the current implementation of pid_longitudinal_controller, if the operation mode is changed, the state will be the same. In this situation, if the goal is set, controller enters into DRIVE state until the vehicle reaches the goal. However, if the operation mode is changed while driving and set autonomous again, controller state stays in DRIVE and the controller does not check the keep_stopped_condition. So vehicle starts to driving without checking steering converged or not.

Tests performed

Tested in planning simulator, worked well.
Not applicable.

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (9693e36) 13.82% compared to head (6d558f6) 13.82%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3644      +/-   ##
==========================================
- Coverage   13.82%   13.82%   -0.01%     
==========================================
  Files        1395     1395              
  Lines       98036    98038       +2     
  Branches    29147    29148       +1     
==========================================
  Hits        13553    13553              
- Misses      69826    69827       +1     
- Partials    14657    14658       +1     

Flag	Coverage Δ		*Carryforward flag
differential	42.03% <0.00%> (?)
total	13.82% <ø> (ø)		Carriedforward from 9693e36

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

Impacted Files	Coverage Δ
...nal_controller/src/pid_longitudinal_controller.cpp	39.59% <0.00%> (-0.17%)	⬇️

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[takayuki5168]

@TakaHoribe Looks good to me. Could you double check please.

[TakaHoribe]

LGTM!