[Feature Request] Supporting setting a goal point behind the current position on the same lanelet

[Kim-mins]

Related Issue

Related to #6546

Description

Hi team,

I currently found a situation that, an invalid path is generated when I set a goal point behind the current position of the ego vehicle on the same lanelet as below:

In the launch.log file, I could see the log below:

1709580193.0063493 [component_container-73] [motion_utils] calcLongitudinalOffsetToSegment: Longitudinal offset calculation is not supported for the same points. Return NaN since no_throw option is enabled. The maintainer must check the code.
1709580193.0078657 [component_container-73] [ERROR] [1709580193.007519306] [control.control_validator]: predicted_trajectory size is less than 2. Cannot validate.

Application

I think this scenario is plausible: somebody might drive around and return home.