fix(lane_change): check able to return to original lane in abort (autowarefoundation#6034)

* fix(lane_change): check able to return to original lane in abort

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix cancel state

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* revert changes

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Author: zulfaqar-azmi-t4

planning/behavior_path_lane_change_module/src/interface.cpp

@@ -276,6 +276,11 @@ bool LaneChangeInterface::canTransitFailureState()
     return false;
   }
 
+  if (!module_type_->isAbleToReturnCurrentLane()) {
+    log_debug_throttled("It's is not possible to return to original lane. Continue lane change.");
+    return false;
+  }
+
   const auto found_abort_path = module_type_->calcAbortPath();
   if (!found_abort_path) {
     log_debug_throttled(