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Fix twist_cmd safety checking in planner

Hiroaki ISHIKAWA requested to merge tier4-logi/autoware/core_planning:feature_move_twist_cmd_checking into master

(Recreate of !56 (closed) due to CI system error.)

Fixed bug

Safety twist_cmd checking was resided in planner

At this moment the function that checking twist_cmd max value for safety was resided in planner. However, this should be done in safety checking node. So I moved this function to twist_gate.

Default safety value of linear velocity was too small

At this moment the safety max value of linear velocity was too small. This might cause unwanted stopping during running. I set DBL_MAX to this default value, which disables safety checking unless an user specifies in autoware_health_checker configuration.

Description of bug

  • Linear velocity output of planner that exceeds 2.2 m/s causes health checker warning state.
  • Linear velocity output of planner that exceeds 3.3 m/s causes health checker error state.
  • Linear velocity output of planner that exceeds 4.4 m/s causes health checker fatal state.

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