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Lateral limitation filter by twist_filter

Akihito Ohsato requested to merge aohsato/core_planning:feature/lateral_limitation_filter into master

Implemented feature

Add lateral acceleration and jerk limitation to prevent sudden motion control caused by NDT failure.

Description

This implementation limits angular velocity (Twist) and steering angle (ControlCommand) based on acceleration/jerk limitation calculated on the kinematic model, no-slip and constant velocity. You can also smooth linear velocity, angular velocity, and steering command by the simple low-pass filter.

NOTE: To handle Twist and ControlCommand, *_follower nodes were changed to publish /ctrl_raw.

https://drive.google.com/file/d/1u-x8hkM6Iz-SLkVeZ0y2nHuo2QFbhhKp/view?usp=sharing

Implementation description

The previous twist_filter already has lateral acceleration limitation but there were some bugs and cannot work well.

NOTE: It affects to speed control only, generally, steering control has more influence on lateral motion than it.

Edited by Akihito Ohsato

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