feat(longitudinal_controller): skip integral in manual mode

[TakaHoribe]

Description

In the current implementation, if the vehicle speed is almost zero, the control error integral is skipped. However, when the vehicle is moving under manual control, the integration is performed which is unexpected behavior. This causes an overshoot when the vehicle is engaged while driving.

This PR fixes the issue by disabling the integration when the control_mode is not in autonomous.

Related links

must be merged with tier4/autoware_launch#683

Tests performed

• psim, run/stop

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[takayuki5168]

LGTM

[takayuki5168]

@TakaHoribe Test on CI failed. Regarding the smoke_test, operation_mode must be published so that the input_data will be initialized?

[codecov]

Codecov Report

Base: 11.64% // Head: 12.57% // Increases project coverage by +0.92% 🎉

Coverage data is based on head (2373332) compared to base (d5a627e).
Patch coverage: 50.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2619      +/-   ##
==========================================
+ Coverage   11.64%   12.57%   +0.92%     
==========================================
  Files        1312     1203     -109     
  Lines       91430    85458    -5972     
  Branches    24327    24262      -65     
==========================================
+ Hits        10648    10745      +97     
+ Misses      69667    63607    -6060     
+ Partials    11115    11106       -9     

Flag	Coverage Δ		*Carryforward flag
differential	40.46% <40.00%> (?)
total	12.35% <41.93%> (+0.71%)	⬆️	Carriedforward from fca9ba0

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

Impacted Files	Coverage Δ
...clude/pid_longitudinal_controller/debug_values.hpp	50.00% <ø> (ø)
...tudinal_controller/pid_longitudinal_controller.hpp	30.00% <ø> (+1.42%)	⬆️
...clude/trajectory_follower_node/controller_node.hpp	100.00% <ø> (ø)
...ectory_follower_node/test/test_controller_node.cpp	32.87% <28.57%> (+8.93%)	⬆️
...l/trajectory_follower_node/src/controller_node.cpp	44.09% <42.85%> (+6.00%)	⬆️
...nal_controller/src/pid_longitudinal_controller.cpp	45.55% <81.25%> (+6.50%)	⬆️
...alization/gyro_odometer/src/gyro_odometer_core.cpp	0.00% <0.00%> (-46.97%)	⬇️
localization/ekf_localizer/src/mahalanobis.cpp	60.00% <0.00%> (-20.00%)	⬇️
...calization/ekf_localizer/test/test_mahalanobis.cpp	44.44% <0.00%> (-5.56%)	⬇️
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	80.95% <0.00%> (-4.77%)	⬇️
... and 180 more

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