refactor(freespace_planner): parameterize margin

[shmpwk]

Signed-off-by: Shumpei Wakabayashi shumpei.wakabayashi@tier4.jp

PR Type

• Improvement

Related Links

autowarefoundation/autoware.universe#1190

Description

Add margin config param according to autowarefoundation/autoware.universe#1190.

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