fix(obstacle_stop_planner): use common ego nearest search

[takayuki5168]

Description

use the new nearest index search algorithm in obstacle stop planner to deal with edge cases shown in the issue.

Related links

issue
#1581

depends on
#1582
tier4/autoware_launch#437

Tests performed

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[codecov]

Codecov Report

Merging #1552 (5fe70c7) into main (6f75dad) will decrease coverage by 0.05%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1552      +/-   ##
==========================================
- Coverage   10.74%   10.69%   -0.06%     
==========================================
  Files        1115     1115              
  Lines       78815    79186     +371     
  Branches    18560    18560              
==========================================
  Hits         8465     8465              
- Misses      61492    61863     +371     
  Partials     8858     8858              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.72% <0.00%> (ø)		Carriedforward from a25f8cf

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

Impacted Files	Coverage Δ
planning/obstacle_stop_planner/src/node.cpp	0.00% <0.00%> (ø)

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[takayuki5168]

No need to modify tier4_planning_launch and planning_launch since the removed parameter is not contained in these laucher's yaml files.

[satoshi-ota]

LGTM

[satoshi-ota]

@takayuki5168 Should we merge this PR with tier4/autoware_launch#437 ?

[takayuki5168]

@satoshi-ota Yes.
Give me LGTM in these PRs.
tier4/autoware_launch#437
#1582

[takayuki5168]

I confirmed this PR worked well with tier4's and awf's meta repository.