fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior

[satoshi-ota]

Description

longitudinal_controller_node

• parameterize STOPPED STATE entry duration time since vehicle stopped. (default 0.1[s])
• set target velocity Zero in STOPPED STATE (remove deceleration limit)

vehicle_cmd_gate

• modified check stopped condition (watch the duration time since vehicle stopped.)

Related links

Tests performed

please plot following topics:

• /control/trajectory_follower/longitudinal/control_cmd/speed (target velocity)
• /control/trajectory_follower/longitudinal/diagnostic/diag_array/data.13 (0: DRIVE, 1: STOPPING, 2: STOPPED, 3: EMERGENCY)

and, check that target velocity is Zero during STOPPED STATE.

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[codecov]

Codecov Report

Merging #700 (f1accd5) into main (02ebf0b) will increase coverage by 0.14%.
The diff coverage is 4.76%.

@@           Coverage Diff            @@
##            main    #700      +/-   ##
========================================
+ Coverage   9.64%   9.78%   +0.14%     
========================================
  Files        907     907              
  Lines      56508   56860     +352     
  Branches    6693    6918     +225     
========================================
+ Hits        5449    5566     +117     
- Misses     46568   46737     +169     
- Partials    4491    4557      +66     

Flag	Coverage Δ		*Carryforward flag
differential	30.38% <6.25%> (?)
total	9.64% <0.00%> (ø)		Carriedforward from 02ebf0b

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...gate/include/vehicle_cmd_gate/vehicle_cmd_gate.hpp	0.00% <ø> (ø)
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	0.00% <0.00%> (ø)
...ollower_nodes/src/longitudinal_controller_node.cpp	46.97% <14.28%> (+5.08%)	⬆️

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[yabuta]

@satoshi-ota 速度0のときにSTOPPING, STOPになることは確認できました
Test PerformedではSTOPPINGがないのは何故でしたっけ？

I confirmed that state is STOPPING, STOP at speed 0
Why was there no STOPPING in Test Performed?

[satoshi-ota]

@yabuta Thank you for your comment 👍 Sorry for the lack of clarity, but I fixed and created this PR in X2 product env, and the product has smooth_stop function disable in control config. As a result, longitudinal_controller doesn't have STOPPING_STATE.

[satoshi-ota]

resolve conflicts

[TakaHoribe]

LGTM. Thank you for your fix and detailed explanation.
The same logic exists in several packages, so please create an issue to track the issue.

[TakaHoribe]

Related. tier4/autoware_launch#283

[satoshi-ota]

LGTM. Thank you for your fix and detailed explanation. The same logic exists in several packages, so please create an issue to track the issue.

OK 👍 I would be happy to undertake that works.