fix(simple_planning_simulator): fix timer type

[TakaHoribe]

Description

Fix timer in simple_planning_simulator to use ros-time correctly.

issue to be solved

In the current implementation, due to the timer type in simple_planning_simulator, the vehicle motion doesn't move correctly.

With use_sim_time:=true, the vehicle exceeds the stop line and gets too close to the obstacle in the obstacle-stop scenario.

After merging this PR, the vehicle will not exceed the stop line.

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[codecov]

Codecov Report

Merging #1538 (f4a5eb8) into main (a9acb3f) will decrease coverage by 0.28%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1538      +/-   ##
==========================================
- Coverage   10.92%   10.63%   -0.29%     
==========================================
  Files        1037     1111      +74     
  Lines       69370    78417    +9047     
  Branches    17832    18403     +571     
==========================================
+ Hits         7577     8339     +762     
- Misses      53484    61344    +7860     
- Partials     8309     8734     +425     

Flag	Coverage Δ		*Carryforward flag
differential	57.03% <0.00%> (?)
total	10.61% <0.00%> (-0.31%)	⬇️	Carriedforward from a9acb3f

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

Impacted Files	Coverage Δ
...nning_simulator/simple_planning_simulator_core.cpp	39.07% <0.00%> (-0.55%)	⬇️
...lude/freespace_planning_algorithms/reeds_shepp.hpp	50.00% <0.00%> (-50.00%)	⬇️
...tic_evaluator/include/kinematic_evaluator/stat.hpp	62.50% <0.00%> (-19.32%)	⬇️
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	64.15% <0.00%> (-18.87%)	⬇️
..._evaluator/include/localization_evaluator/stat.hpp	56.25% <0.00%> (-16.48%)	⬇️
.../src/vehicle/test_vehicle_state_checker_helper.hpp	70.58% <0.00%> (-9.42%)	⬇️
planning/behavior_path_planner/test/input.cpp	60.00% <0.00%> (-7.86%)	⬇️
common/perception_utils/src/perception_utils.cpp	56.75% <0.00%> (-6.88%)	⬇️
...include/motion_utils/trajectory/tmp_conversion.hpp	60.00% <0.00%> (-6.67%)	⬇️
...oware_auto_geometry/include/geometry/common_2d.hpp	82.66% <0.00%> (-5.91%)	⬇️
... and 763 more

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[taikitanaka3]

LGTM
I confirmed ego doesn't exceed stop line

2022-08-10-13-22-42.mp4