fix(start/goal_planner): fix multi thread memory crash

[kosuke55]

Description

Wait for the multithreaded callback to finish in the destructor for
#5154

Tests performed

psim

evaluator_description: fix/start_goal_multithread
2024/02/06 https://evaluation.tier4.jp/evaluation/reports/a099d691-034b-5484-a751-547fe6c34756/?project_id=prd_jt

evaluator_description: fix/start_goal_multithread
2024/02/06 https://evaluation.tier4.jp/evaluation/reports/18277ac1-dd2a-5069-bced-148402a874bf/?project_id=prd_jt

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 27 lines in your changes are missing coverage. Please review.

Comparison is base (bd4b5ca) 14.36% compared to head (1ab5eb2) 14.35%.
Report is 15 commits behind head on main.

Files	Patch %	Lines
...r_path_goal_planner_module/goal_planner_module.hpp	0.00%	16 Missing ⚠️
...path_start_planner_module/start_planner_module.hpp	0.00%	9 Missing ⚠️
..._start_planner_module/src/start_planner_module.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6322      +/-   ##
==========================================
- Coverage   14.36%   14.35%   -0.02%     
==========================================
  Files        1907     1907              
  Lines      130136   130272     +136     
  Branches    37640    37640              
==========================================
  Hits        18697    18697              
- Misses      90430    90566     +136     
  Partials    21009    21009              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.36% <ø> (+<0.01%)	⬆️	Carriedforward from bd4b5ca

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[VRichardJP]

Feels a bit over engineered, no? If the goal is to make sure 2 callbacks are not executed at the same time, then why not simply use the same callback queue for both?

[kosuke55]

@VRichardJP
thanks for checking the PR.

Since path candidates generation in this module is time consuming, it is done in a separate thread from the main thread called by run from manager.

Concurrency is desirable because we want to generate paths without stopping the main thread.
However, it has not been verified whether anything other than the main thread is running when manager deletes an planner instance.
This PR ensures that when deleting the instance, the other threads processes are finished.

https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_goal_planner_module/#pull-over

[kyoichi-sugahara]

LGTM!!!
Super thanks.