fix(multi_object_tracker): huge tracking object bug fix for x2

[technolojin]

Description

Catch-up of old PRs, cherry-pick of the fix autowarefoundation#7159

Bug ticket: https://tier4.atlassian.net/browse/RT0-31411

Tests performed

Want to be checked in X2 environment.

Effects on system behavior

Not applicable.

Interface changes

Not applicable.

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[dai0912th]

I would like to have regression test in X2 environment before this PR merge into beta/v0.19.1, but I agree to merge it without that test due to limited remaing time until X2 v3.0.0 release date.

[technolojin]

@dai0912th
Thank you for your confirmation. Shall I merge it now? Or will you merge it after some test?

[dai0912th]

@dai0912th Thank you for your confirmation. Shall I merge it now? Or will you merge it after some test?

@technolojin Please merge it when you are ready to merge. X2 test will be started after PR merge by myside.