Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

Even though ego is on centerline (custom centerline - "waypoints") start_planner is triggered when;

• use_waypoints : true

start_planner uses calculated centerline to judge whether ego pose is in the middle of the road or not ( isCurrentPoseOnMiddleOfTheRoad ).

❗ Please be aware that in rviz custom centerline is not used to visualize, instead calculated centerline (overwritten centerline) is used. Actually ego is on the centerline.

Expected behavior

If ego is on the centerline (custom or calculated) start_planner should not be triggered whether use_waypoints : true or use_waypoints : false

Actual behavior

Even though ego is on centerline (custom centerline - "waypoints") start_planner is triggered.

Steps to reproduce

1. Download the map & scenario: map and scenario.zip

2. Run the scenario

Versions

No response

Possible causes

start_planner uses calculated centerline to judge whether ego pose is in the middle of the road or not ( isCurrentPoseOnMiddleOfTheRoad ).

Additional context

No response