feat(start/goal_planner): remove unused param and update time horizon for goal planner's safety check

[kyoichi-sugahara]

Description

remove unused param and update time horizon for goal planner's safety check

launcher change in this PR should be merged first

Tests performed

confirmed goal planner's safety check properly working

Screencast.from.2024.02.07.21.56.46.webm

Effects on system behavior

Not applicable.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (e2bd68f) 14.86% compared to head (1d9d06f) 14.86%.
Report is 17 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #6353   +/-   ##
=======================================
  Coverage   14.86%   14.86%           
=======================================
  Files        1845     1845           
  Lines      126611   126611           
  Branches    37871    37871           
=======================================
  Hits        18822    18822           
  Misses      86632    86632           
  Partials    21157    21157           

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <ø> (?)
total	14.86% <ø> (ø)		Carriedforward from e2bd68f

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.