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Fix local closest waypoint in astar_avoid

Yuma Nihei requested to merge yn-mrse/core_planning:feature/fix_astar_avoid_closest_wp into master

Fixed bug

!46 (closed) has been replaced by this MR due to the change of the person in charge.

Since astar_avoid generates avoidance path, /safety_waypoints , having a different number of waypoints from /base_waypoints, so needs to obtain local closest waypoint by itself.

However, when updating base_waypoints, the current implementation crashes sometimes. https://answers.ros.org/question/328521/autoware-1120-astar-avoid-crashes/

astar_avoid has a sliding window around self-vehicle to find a local closest waypoint, but this needs to be initialized if /base_waypoints updates. This PR fixed that by detecting the difference of /base_waypoints timestamp

Related to #8 (closed)

Steps to reproduce the bug

  1. Launch lane_rule/stop/select, astar_avoid, velocity_set, pure_pursuit, twist_filter, wf_simulator
  2. Load "many" waypoint (https://drive.google.com/open?id=1HT2mvlU-K3Ab-SYoIdOHj834SyfoeCYR) using waypoint_loader
  3. Reload "fewer" waypoint (https://drive.google.com/open?id=1OxSF43XCMR9Hln0ACCwaSNmq2ZXf-zji)
  4. Sometimes astar_avoid crashes

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