fix(start_planner): check safety only when waiting approval (autoware…

…foundation#5792)

1. The `updateData()` function now sets `status_.is_safe_dynamic_objects` to true when `requiresDynamicObjectsCollisionDetection()` returns false.

2. The `isExecutionReady()` function now checks for dynamic object collisions only if `requiresDynamicObjectsCollisionDetection()` returns true and `isWaitingApproval()` also returns true. This change ensures that dynamic object collision detection is performed only when necessary and approval is pending.

Signed-off-by: kyoichi-sugahara <[email protected]>

planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp

@@ -146,6 +146,8 @@ void StartPlannerModule::updateData()
 
   if (requiresDynamicObjectsCollisionDetection()) {
     status_.is_safe_dynamic_objects = !hasCollisionWithDynamicObjects();
+  } else {
+    status_.is_safe_dynamic_objects = true;
   }
 }
 
@@ -279,7 +281,7 @@ bool StartPlannerModule::isExecutionReady() const
     is_safe = false;
   }
 
-  if (requiresDynamicObjectsCollisionDetection()) {
+  if (requiresDynamicObjectsCollisionDetection() && isWaitingApproval()) {
     is_safe = !hasCollisionWithDynamicObjects();
   }