fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually.

[HansOersted]

Description

The MPC steering angle stops tracking the actual one while the car is driving manually.

This causes the so-called "improper initial steering angle" after switching from manual to auto as below:

case 1
Screencast from 06-14-2024 01:39:49 PM.webm

case 2
Screencast from 06-14-2024 02:10:00 PM.webm

case 3
Screencast from 06-14-2024 02:31:54 PM.webm

This PR aligns the MPC steering angle when the car is controlled manually.

The resulting response of the updated algorithm is given below:

case 1 (after modification)
Screencast from 06-14-2024 01:27:01 PM.webm

case 2 (after modification)
Screencast from 06-14-2024 02:04:21 PM.webm

case 3 (after modification)
Screencast from 06-14-2024 02:28:51 PM.webm

The flag used is const bool is_under_control = input_data.current_operation_mode.is_autoware_control_enabled &&
input_data.current_operation_mode.mode ==
autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS;

Related links

case 1
https://tier4.atlassian.net/jira/software/c/projects/RT1/boards/438?selectedIssue=RT0-31121

case 2
https://tier4.atlassian.net/jira/software/c/projects/RT1/boards/438?selectedIssue=RT0-30739

case 3
Case 3 was raised by Dr. M. @maxime-clem

Tests performed

https://evaluation.tier4.jp/evaluation/reports/b49b340f-dcb8-5bf0-8feb-7dfbdfd24179?page=1&project_id=prd_jt

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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[kyoichi-sugahara]

@HansOersted
FYI: you can choose PR template and if a big change (e,g, interface chenge) is not included, you can choose small change. Then you don't need to describe about your change that much.

[TakaHoribe]

If the vehicle does not follow the MPC command (e.g. in manual mode), the previous value used to keep the consistency will not make sense. It is reasonable to reset the previous value to the current value in this case.

[TakaHoribe]

@HansOersted Please read the description and make sure these check box are done before merge.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 18.89%. Comparing base (507e3f4) to head (0eeaf6d).
Report is 65 commits behind head on main.

Files	Patch %	Lines
..._lateral_controller/src/mpc_lateral_controller.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #7109       +/-   ##
===========================================
+ Coverage   14.84%   18.89%    +4.05%     
===========================================
  Files        1999      149     -1850     
  Lines      139163    13429   -125734     
  Branches    43716     2214    -41502     
===========================================
- Hits        20661     2538    -18123     
+ Misses      95731    10537    -85194     
+ Partials    22771      354    -22417     

Flag	Coverage Δ
differential	18.89% <0.00%> (?)
total	?

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