fix(behavior_velocity_crosswalk_module): stop at stop line associated…

… with crosswalk (autowarefoundation#915)

fix(behavior_velocity_crosswalk_module): stop at stop line associated with crosswalk (autowarefoundation#5231)

don't consider margin when stop line is found

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp

@@ -292,8 +292,7 @@ std::optional<std::pair<geometry_msgs::msg::Point, double>> CrosswalkModule::get
     const auto p_stop_lines = getLinestringIntersects(
       ego_path, lanelet::utils::to2D(stop_line).basicLineString(), ego_pos, 2);
     if (!p_stop_lines.empty()) {
-      return std::make_pair(
-        p_stop_lines.front(), -planner_param_.stop_distance_from_object - base_link2front);
+      return std::make_pair(p_stop_lines.front(), -base_link2front);
     }
   }