fix(route_handler): route plan failed when ego is on the road shoulder

[TakaHoribe]

Description

Fix for #4254.

Modify the code in the route_handler to enable route plan when the ego is located out of the road_lanelet (e.g. road shoulder).

Related links

#4254

Tests performed

• Run psim
• TIERIV internal scenario test

Notes for reviewers

None

Interface changes

None

Effects on system behavior

The route planning behavior changes.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.03 ⚠️

Comparison is base (67c95e9) 14.21% compared to head (c910256) 14.18%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4255      +/-   ##
==========================================
- Coverage   14.21%   14.18%   -0.03%     
==========================================
  Files        1597     1597              
  Lines      109846   110243     +397     
  Branches    31508    31788     +280     
==========================================
+ Hits        15613    15639      +26     
- Misses      77282    77641     +359     
- Partials    16951    16963      +12     

Flag	Coverage Δ		*Carryforward flag
differential	16.24% <0.00%> (?)
total	14.21% <ø> (ø)		Carriedforward from 67c95e9

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

Impacted Files	Coverage Δ
...n_planner/src/lanelet2_plugins/default_planner.cpp	22.00% <0.00%> (-0.11%)	⬇️
planning/route_handler/src/route_handler.cpp	24.74% <0.00%> (-0.06%)	⬇️

... and 4 files with indirect coverage changes

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[kosuke55]

thanks! LGTM