obstacle_collision_checker does not run properly

[brkay54]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

While Bus ODD tests, we needed to use obstacle_collision_checker package to bring to vehicle collision awareness. If vehicle can not stop with nominal acceleration before collision, it should send emergency stop. However, obstacle_collision_checker failed in tests.
After little investigation, we realize the parameters are returning zero. Because search_radius is returning zero, node can not detect anything in the lane. After some changes and removing param call back function, node run successfully.

Expected behavior

If vehicle can not stop with nominal acceleration before collision, it should send emergency stop.

Actual behavior

Because params are zero, node can not detect the obstacles in the lane.

Steps to reproduce

1. add obstacle_collision_checker in control.launch.py
2. display the parameters in timer

Versions

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Possible causes

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Additional context

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