Obstacle stop planner reacts too late when use_predicted_objects is true

[brkay54]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

We started to develop reaction analyzer tool to measure reaction times of the nodes (You can check #5540 for more information.). In the first reaction tests, we realized that obstacle stop planner reacts late to obstacle on trajectory. You can see the results here:

15 tests have been made for each case: (obsacle_stop_planner with use_predicted_objects),
(obsacle_stop_planner without use_predicted_objects), (obstacle_cruise_planner).

Case - 1 - obsacle_stop_planner with use_predicted_objects:

Case - 2 - obsacle_stop_planner without use_predicted_objects:

Case - 3 - obsacle_cruise_planner:

As you can see, reaction times for obstacle_stop_planner is too high when use_predicted_object is true compared to other cases.

Purpose

Find the cause of the high reaction time and fix it.

Possible approaches

Check the algorithm steps of obstacle_stop_planner for the use_predicted_object parameter true. We do not get same high reaction time when it is false. So, the error causes this behavior probably in this function.

Definition of done