feat(motion_velocity_smoother): force slow driving (autowarefoundatio…

…n#899)

* add parameter for force slow driving

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* fix

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* modify comment

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

---------

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml

@@ -60,3 +60,7 @@
     over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point
 
     plan_from_ego_speed_on_manual_mode: true  # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging.
+
+    # force slow driving from stopping state
+    force_slow_driving:
+      velocity: 1.39                          # velocity in slow driving mode [m/s]