chore: sync awf/autoware_launch (autowarefoundation#820)

feat(obstacle_stop_planner): add margin behind goal (#228)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

Author: tier4-autoware-public-bot[bot]

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml

@@ -15,9 +15,10 @@
     stop_planner:
       # params for stop position
       stop_position:
-        max_longitudinal_margin: 5.0         # stop margin distance from obstacle on the path [m]
-        min_longitudinal_margin: 5.0         # stop margin distance when any other stop point is inserted in stop margin [m]
-        hold_stop_margin_distance: 0.0       # the ego keeps stopping if the ego is in this margin [m]
+        max_longitudinal_margin: 5.0             # stop margin distance from obstacle on the path [m]
+        max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind goal on the path [m]
+        min_longitudinal_margin: 5.0             # stop margin distance when any other stop point is inserted in stop margin [m]
+        hold_stop_margin_distance: 0.0           # the ego keeps stopping if the ego is in this margin [m]
 
       # params for detection area
       detection_area: