fix(pid_longitudinal_control): not check steering convergence when moving

[TakaHoribe]

Description

Not check the steering convergence when the vehicle is moving.

Fixed bug:

• When the vehicle was driving in manual mode, the longitudinal controller was stuck in "STOPPED" mode due to the steering_convergence check. Then, the vehicle got stopped when the Autoware was engaged, which was not expected.

Ideal behavior

• The vehicle should be in driving mode even if the steering is not converged in driving mode.

Related links

TIERIV INTERNAL TICKETS

Tests performed

• Run psim
• Run lsim

Notes for reviewers

None

Interface changes

None

Effects on system behavior

Bug on engage is fixed.

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[codecov]

Codecov Report

Attention: 1 lines in your changes are missing coverage. Please review.

Comparison is base (a2b114d) 14.71% compared to head (dcb3b1c) 14.72%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5456   +/-   ##
=======================================
  Coverage   14.71%   14.72%           
=======================================
  Files        1665     1665           
  Lines      116223   116225    +2     
  Branches    36027    36028    +1     
=======================================
+ Hits        17107    17109    +2     
  Misses      79733    79733           
  Partials    19383    19383           

Flag	Coverage Δ		*Carryforward flag
differential	41.37% <66.66%> (?)
total	14.71% <ø> (+<0.01%)	⬆️	Carriedforward from a2b114d

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

Files	Coverage Δ
...nal_controller/src/pid_longitudinal_controller.cpp	39.41% <66.66%> (+0.23%)	⬆️

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