feature/Add start_at_departure flag for GoToPlace

[kjchee]

New feature implementation

Implemented feature

This PR is related to this open-rmf/rmf_task#128.

Implementation description

• start_at_departure is added in go_to_place schema.
• and additional logic is added in Patrol.cpp to read this flag.

GenAI Use

We follow OSRA's policy on GenAI tools

• I used a GenAI tool in this PR.
• I did not use GenAI

Generated-by:

[mxgrey]

I left one remark, but it's not a blocker.

We just need to wait for open-rmf/rmf_task#128 to be merged, and then we can merge this one.

[mxgrey]

It's not important, but I think we can add

"default": false,

to this definition.

https://json-schema.org/understanding-json-schema/reference/annotations

[kjchee]

sure, will add it in

[mxgrey]

I've tried this PR out with the help of open-rmf/rmf_demos#331 and the new behavior is working exactly as expected.

Thanks for the contribution!

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 0.00%. Comparing base (3be4edf) to head (b019825).
⚠️ Report is 157 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff            @@
##             main   #467       +/-   ##
=========================================
- Coverage   17.61%      0   -17.62%     
=========================================
  Files         209      0      -209     
  Lines       19351      0    -19351     
  Branches     9297      0     -9297     
=========================================
- Hits         3409      0     -3409     
+ Misses      12274      0    -12274     
+ Partials     3668      0     -3668     

Flag	Coverage Δ
tests	?

Flags with carried forward coverage won't be shown. Click here to find out more.
see 209 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.