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Apply Changes from Integration to Master - lane_planner

mitsudome-r requested to merge mitsudome-r/AutowareAuto:merge-integration-lane-planner into master

Solves #687 (closed). This merges changes in trajectory_planner_node_base, lane_planner, and lane_planner_node from integration branch to master branch.

This includes changes in !723 (merged).

Edited by Joshua Whitley

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