feat: add control command gate param (autowarefoundation#1116)

* feat: add param control command gate (autowarefoundation#1086)

* feat: add params

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat: rename directory

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat: follow change of universe

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

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Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* fix: control command gate param fix (autowarefoundation#1094)

feat: change param value

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat: chnage builtint deceleration

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

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Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

Author: TetsuKawa

autoware_launch/config/control/control_command_gate/control_command_gate.redundancy.main.param.yaml

@@ -0,0 +1,29 @@
+/**:
+  ros__parameters:
+    rate: 10.0
+    inputs: [stop, main, local, remote, in_lane_stop]  # main is for autonomous, pull_over, comfortable_stop
+    builtin_emergency_acceleration: -3.0
+    diag_timeout_warn_duration: 1.0
+    diag_timeout_error_duration: 2.0
+    stop_check_duration: 1.0
+    enable_command_limit_filter: true
+    nominal_filter:
+      vel_lim: 25.0
+      reference_speed_points: [0.1, 0.3, 20.0, 30.0]
+      steer_lim: [1.0, 1.0, 1.0, 0.8]
+      steer_rate_lim: [1.0, 1.0, 1.0, 0.8]
+      lon_acc_lim: [6.0, 6.0, 6.0, 6.0]
+      lon_jerk_lim: [80.0, 30.0, 30.0, 30.0] # The first element is required for quick pedal changes when stopping and starting.
+      lat_acc_lim: [5.0, 5.0, 5.0, 4.0]
+      lat_jerk_lim: [7.0, 7.0, 7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8]
+    transition_filter:
+      vel_lim: 50.0
+      reference_speed_points: [20.0, 30.0]
+      steer_lim: [1.0, 0.8]
+      steer_rate_lim: [1.0, 0.8]
+      lon_acc_lim: [1.0, 0.9]
+      lon_jerk_lim: [0.5, 0.4]
+      lat_acc_lim: [2.0, 1.8]
+      lat_jerk_lim: [7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 0.8]

autoware_launch/config/control/control_command_gate/control_command_gate.redundancy.sub.param.yaml

@@ -0,0 +1,29 @@
+/**:
+  ros__parameters:
+    rate: 10.0
+    inputs: [in_lane_stop]  # main is for autonomous, pull_over, comfortable_stop
+    builtin_emergency_acceleration: -3.0
+    diag_timeout_warn_duration: 1.0
+    diag_timeout_error_duration: 2.0
+    stop_check_duration: 1.0
+    enable_command_limit_filter: true
+    nominal_filter:
+      vel_lim: 25.0
+      reference_speed_points: [0.1, 0.3, 20.0, 30.0]
+      steer_lim: [1.0, 1.0, 1.0, 0.8]
+      steer_rate_lim: [1.0, 1.0, 1.0, 0.8]
+      lon_acc_lim: [6.0, 6.0, 6.0, 6.0]
+      lon_jerk_lim: [80.0, 30.0, 30.0, 30.0] # The first element is required for quick pedal changes when stopping and starting.
+      lat_acc_lim: [5.0, 5.0, 5.0, 4.0]
+      lat_jerk_lim: [7.0, 7.0, 7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8]
+    transition_filter:
+      vel_lim: 50.0
+      reference_speed_points: [20.0, 30.0]
+      steer_lim: [1.0, 0.8]
+      steer_rate_lim: [1.0, 0.8]
+      lon_acc_lim: [1.0, 0.9]
+      lon_jerk_lim: [0.5, 0.4]
+      lat_acc_lim: [2.0, 1.8]
+      lat_jerk_lim: [7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 0.8]