17.5.2
Description
Abstract
This PR will fix #1658.
User can start simulation even if Autoware is already started, by setting launch_autoware:=False (scenario_test_runner.launch.py)
Background
Current implementation of FieldOperatorApplication expects Autoware state should be undefined (not started yet) or initializing at startup.
However, if launch_autoware is set to False and Autoware instance is already started, Autoware state can be waiting_for_route.
In addition, Autoware instance that was used by simulator can be driving state, and this will prevent simulation start.
Details
In this PR, simulator allows waiting_for_route at initialize.
In addition, simulator will change Autoware mode to STOP to ensure the car does not move before initialization.