Routing no_drivable_lane(s) only when module is enabled

[ahmeddesokyebrahim]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Currently Autoware is able to stop by no_drivable_lane(s) and handle routing to avoid them if they exist in the route.
However, this routing is considered even if no_drivable_lane module is disabled.

Purpose

This task is to make the routing for no_drivable_labe considered only if the module is enabled

Possible approaches

Add a new parameter that indicates considering routing for no_drivable_lane(s) or not

Definition of done

By proper usage of the proposed parameter :

• When no_drivable_lane is enabled, the routing s considered to handle them if any
• When no_drivable_lane is disabled, the normal shortest path is the only solution available.