fix(control_launch): fix steer rate limit at low velocity (autowarefo…

…undation#467)

* fix(control_launch): fix steer rate limit at low velocity

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* Update autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

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Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -49,7 +49,7 @@
     vehicle_model_steer_tau: 0.15     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0]             # steering angle rate limit list depending on velocity [deg/s]
+    steer_rate_lim_dps_list_by_velocity: [10.0, 10.0, 10.0]             # steering angle rate limit list depending on velocity [deg/s]
     velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 2.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]