feat(mission_planner): add route updater

[purewater0901]

Description

Add a route update that updates route of the route handler in default planner

🤖 Generated by Copilot at 1f1e50b

This pull request enables the default planner plugin to handle route information from the mission planner node. It adds an updateRoute method to the PlannerPlugin interface and implements it in the DefaultPlanner class. It also modifies the MissionPlanner class to call the updateRoute method of the planner plugin when the route changes.

Related links

Tests performed

Planning SImulator

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[kosuke55]

@purewater0901
nice! And how about resetting the route_lanelets when change_route() without args is called?

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.72 ⚠️

Comparison is base (51a8bad) 13.14% compared to head (ca37510) 12.43%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3334      +/-   ##
==========================================
- Coverage   13.14%   12.43%   -0.72%     
==========================================
  Files        1280     1368      +88     
  Lines       90724    95955    +5231     
  Branches    27969    27641     -328     
==========================================
+ Hits        11928    11930       +2     
- Misses      66128    71357    +5229     
  Partials    12668    12668              

Flag	Coverage Δ		*Carryforward flag
differential	20.90% <0.00%> (?)
total	12.43% <ø> (-0.72%)	⬇️	Carriedforward from 44b5e75

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <ø> (ø)
...ocity_planner/src/scene_module/run_out/manager.cpp	0.00% <ø> (ø)
...n_planner/src/lanelet2_plugins/default_planner.cpp	22.11% <0.00%> (-0.78%)	⬇️
...on_planner/src/mission_planner/mission_planner.cpp	0.00% <0.00%> (ø)
planning/route_handler/src/route_handler.cpp	11.46% <ø> (ø)

... and 122 files with indirect coverage changes

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[purewater0901]

@kosuke55 If you looked at the change_route(), it is only used when clearing the route. So I guess we do not have to do specific process.

[kosuke55]

@purewater0901
change_route() seems to reset just the goal but not the route, so route_lanelets of route_handler is still kept as the previous one.

[purewater0901]

@kosuke55 Yes, the route handler still keeps the previous route. However, since there is no way to clear all of the member variables in the route handler, I could not clear the route

[kosuke55]

@purewater0901
yes, I meant adding public clearRoute() in route_handler and use it in mission_planner, how do you think?

void RouteHandler::clearRoute(){
  route_lanelets_.clear();
  preferred_lanelets_.clear();
  start_lanelets_.clear();
  goal_lanelets_.clear();
  // and more?
}

[purewater0901]

I add a clear function for route handler with this PR

[kosuke55]

LGTM