strengthen the start request call condiiton

[tkhmy]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

• Ideally, the start request only can be triggered when the vehicle is reengaged.
• But as now it only uses speed to decide the trigger, the start request is been triggered too easily.

Purpose

• Only trigger the start condition in a specific condition

Possible approaches

The start request will only be triggered when the vehicle stop in the following cases

1. vehicle stop with stop_reason and the distance from the stop position is less than 0.5m
2. emergency state,
3. current velocity is 0

Trigger start_request service after the stop_reason is gone, the emergency is clear, and desired velocity is more than 0

Definition of done

Start request only trigger with above use case

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[tkhmy]

close this issue, as is already been fixed in autoware