feat(goal_planner): cherry pick several fixes#1805

Merged

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

Feb 13, 2025

+246-280

Commits on Feb 12, 2025

refactor(goal_planner): refactor goal_searcher and goal_candidates (autowarefoundation#10049 )
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fix(goal_planner): fix goal_searcher assert (autowarefoundation#10055 )
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refactor(goal_planner): remove enable_safety_check because it is default (autowarefoundation#10052 )
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feat(goal_planner): do not use isActivated() in deciding state transition (autowarefoundation#10056 )
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feat(goal_planner): replace LastApprovalData with the time changed to DECIDED (autowarefoundation#10066 )
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refactor(goal_planner): fix updateData continuation condition (autowarefoundation#10079 )
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feat(goal_planner): ensure stop while path candidates are empty (autowarefoundation#10101 )
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