fix(vehicle_cmd_gate): fix slow start

[tkimura4]

Description

In the "vehicle_cmd_gate" module, the current practice is to use the actual longitudinal state of the vehicle (accel=0, speed=0) as the previous command value during a stop. However, this can occasionally lead to a decrease in the commanded acceleration, resulting in a slower start. So, I have made a modification to utilize the larger of the previous command value or the actual longitudinal state of the vehicle as the previous command value.

Before:

After:
The value of /control/command/control_cmd/longitudinal/acceleration has been improved to increase smoothly.

Related links

Tests performed

Tested by rosbag and logging_simulator (See description)

Notes for reviewers

none

Interface changes

none

Effects on system behavior

Improved departure delays

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[tkimura4]

TODO: consider reverse driving

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +0.99 🎉

Comparison is base (665281e) 14.17% compared to head (0929f74) 15.17%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4323      +/-   ##
==========================================
+ Coverage   14.17%   15.17%   +0.99%     
==========================================
  Files        1601     1493     -108     
  Lines      110214   102875    -7339     
  Branches    31602    31547      -55     
==========================================
- Hits        15623    15610      -13     
+ Misses      77603    70314    -7289     
+ Partials    16988    16951      -37     

Flag	Coverage Δ		*Carryforward flag
differential	19.16% <0.00%> (?)
total	15.17% <ø> (+0.99%)	⬆️	Carriedforward from a9a3fee

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

Impacted Files	Coverage Δ
...ontrol/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp	77.77% <0.00%> (-9.73%)	⬇️
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	0.28% <0.00%> (-0.01%)	⬇️

... and 115 files with indirect coverage changes

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[1222-takeshi]

LGTM