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feat(goal_planner): cherry pick several fixes #1805

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TomohitoAndo merged 7 commits into beta/v0.41 from cherry-pick/goal-planner

Feb 13, 2025

Merged

feat(goal_planner): cherry pick several fixes #1805

feat(goal_planner): ensure stop while path candidates are empty (#10101)

GitHub Advanced Security / SonarCloud succeeded Feb 12, 2025 in 2s

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