Implement Longitudinal Controller for Cargo ODD
Description
Part of #1036
Purpose
We made decision on splitting current controller into lateral controller and longitudinal controller for easier tuning. The basic implementation in Tier IV's Architecture Proposal can be used as a reference to implement this. https://github.com/tier4/AutowareArchitectureProposal.iv/tree/ros2/control/velocity_controller
Desired Behavior
When a trajectory is given to this module, it will calculate longitudinal control(speed, acceleration) field of the control command.
Definition of Done
-
Design Document merged to master -
Implementation merged to master