fix(start/goal_planner): fix freespace planning error handling

[kosuke55]

Description

add error handling when freespace planning can not find path.

Related links

#8068

[openscenario_interpreter_node-3] [component_container_mt-33] terminate called after throwing an instance of 'std::logic_error'
[openscenario_interpreter_node-3] [component_container_mt-33]   what():  HA* failed to find path to goal
[openscenario_interpreter_node-3] [component_container_mt-33] *** Aborted at 1722248354 (unix time) try "date -d @1722248354" if you are using GNU date ***

Parent Issue:

• Link

How was this PR tested?

wip: 2024/07/29 https://evaluation.tier4.jp/evaluation/reports/5e0d0571-2e37-5845-956e-62dc4f7dd810/?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 5 lines in your changes missing coverage. Please review.

Project coverage is 29.12%. Comparing base (5093495) to head (b6f444e).
Report is 10 commits behind head on main.

Files	Patch %	Lines
...th_start_planner_module/src/freespace_pull_out.cpp	0.00%	3 Missing ⚠️
...th_goal_planner_module/src/freespace_pull_over.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8246      +/-   ##
==========================================
- Coverage   29.24%   29.12%   -0.12%     
==========================================
  Files        1600     1605       +5     
  Lines      117738   117824      +86     
  Branches    50720    50697      -23     
==========================================
- Hits        34427    34315     -112     
- Misses      74120    74326     +206     
+ Partials     9191     9183       -8     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	29.18% <ø> (-0.06%)	⬇️	Carriedforward from 5093495

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

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[kyoichi-sugahara]

Suggested change

	try {
	if (!planner_->makePlan(current_pose, end_pose)) {
	return {};
	}
	} catch (const std::exception & e) {
	try {
	if (!planner_->makePlan(current_pose, end_pose)) {
	RCLCPP_WARN(this->get_logger(), "Failed to make plan: planner returned false");
	return {};
	}
	} catch (const std::exception & e) {
	RCLCPP_WARN(this->get_logger(), "Exception caught while making plan: %s", e.what());

I thought it would be better to output the error content, but please ignore this if it's unnecessary.

[kyoichi-sugahara]

LGTM Thanks!