chore: sync vehicle and sim param files (autowarefoundation#163)

* chore: sync vehicle and sim param files

Signed-off-by: GitHub <noreply@github.com>

* fix: revert delay_compensation_time

Co-authored-by: 0x126 <0x126@users.noreply.github.com>
Co-authored-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>

control_launch/config/trajectory_follower/longitudinal_controller_for_vehicle_sim.param.yaml

@@ -1,11 +1,12 @@
 /**:
   ros__parameters:
-    longitudinal_ctrl_period: 0.03
     delay_compensation_time: 0.0
 
     enable_smooth_stop: false
     enable_overshoot_emergency: true
+    enable_large_tracking_error_emergency: true
     enable_slope_compensation: true
+    enable_keep_stopped_until_steer_convergence: false
 
     # state transition
     drive_state_stop_dist: 0.5

control_launch/config/trajectory_follower/mpc_follower_for_vehicle_sim.param.yaml

@@ -1,8 +1,6 @@
 /**:
   ros__parameters:
-
     # -- system --
-    ctrl_period: 0.03               # control period [s]
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
     admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
@@ -40,6 +38,7 @@
     mpc_zero_ff_steer_deg: 0.5                   # threshold that feed-forward angle becomes zero
     mpc_acceleration_limit: 2.0                  # limit on the vehicle's acceleration
     mpc_velocity_time_constant: 0.3              # time constant used for velocity smoothing
+    mpc_min_prediction_length: 5.0               # minimum prediction length
 
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
@@ -54,9 +53,13 @@
     steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz]
     error_deriv_lpf_cutoff_hz: 5.0
 
-    # stop state
+    # stop state: steering command is kept in the previous value in the stop state.
     stop_state_entry_ego_speed: 0.2
     stop_state_entry_target_speed: 0.5
+    converged_steer_rad: 0.1
+    keep_steer_control_until_converged: false
+    new_traj_duration_time: 1.0
+    new_traj_end_dist: 0.3
 
     # vehicle parameters
     vehicle: