Customize API::getGoalPoses for goal modifications.

[TakanoTaiga]

Description

Abstract

⚠️This PR has been resubmitted due to a conflict with #1303. There are some changes included.
This pull request customizes the API::getGoalPoses function for goal modifications in Autoware.

Background

The goal position in Autoware is automatically modified by a feature called "goal modification." This PR addresses the need to retrieve the actual goal positions considering these modifications.

Details

The API::getGoalPoses function has been customized to check the goal field in /planning/mission_planning/route and retrieve the goal positions. When API::getGoalPoses is called for an Ego entity, this new logic is applied to extract the correct goal positions. Currently, VehicleEntity::getGoalPoses is being called, which only computes the route to the goal without considering the goal modifications.

References

https://github.com/tier4/sim_evaluation_tools/issues/351

Destructive Changes

N/A

Known Limitations

N/A

[github-actions]

Checklist for reviewers ☑️

All references to "You" in the following text refer to the code reviewer.

• Is this pull request written in a way that is easy to read from a third-party perspective?
• Is there sufficient information (background, purpose, specification, algorithm description, list of disruptive changes, and migration guide) in the description of this pull request?
• If this pull request contains a destructive change, does this pull request contain the migration guide?
• Labels of this pull request are valid?
• All unit tests/integration tests are included in this pull request? If you think adding test cases is unnecessary, please describe why and cross out this line.
• The documentation for this pull request is enough? If you think adding documents for this pull request is unnecessary, please describe why and cross out this line.

[sonarcloud]

Please retry analysis of this Pull-Request directly on SonarCloud