feat(motion_velocity_smoother)!: added force acceleration based param…

…eter (autowarefoundation#870)

* add force acceleration related parameters to motion velocity smoother

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

* Parameters fixed from experiment

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

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Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
Signed-off-by: Go Sakayori <gsakayori@gmail.com>

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

@@ -60,3 +60,11 @@
     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 acceleration
+    force_acceleration:
+      max_acc: 2.0
+      max_jerk: 5.0
+      max_lateral_acc: 1.0
+      engage_velocity: 0.25
+      engage_acceleration: 0.5