feat(mpc_lateral_controller): visualize/correct the longitudinal and lateral deviations for pid and mpc#6268

Draft

HansOersted wants to merge 24 commits intoautowarefoundation:mainfrom HansOersted:visualize_PID_and_MPC_deviations

Commits on Jan 31, 2024

lingitudinal deviation published, time stamp is CURRENT.
HansOersted
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add the derivative feature: structure defined, Output modified, derivative function prototype defined
HansOersted
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add the velocity and acceleration frame, but the acceleration might be incorrect
HansOersted
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deviation of the velocity along longitude published
HansOersted
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output correct for the derivatives
HansOersted
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add the 'interface' for the deviation of the acceleration along longitude, but the current_acc may only be available by subscribing
HansOersted
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delete the acce deviation
HansOersted
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output the debug signal, the MPC after saturation before filter in specific
HansOersted
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correct the published lateral_deviation (it should be w.r.t. the actual reference, that is mpc_resampled_ref_trajectory). publish the mpc_data_traj_raw.lateral_err w.r.t. the raw planned path
HansOersted
committed

Commits on Feb 1, 2024

style(pre-commit): autofix
pre-commit-ci[bot]
committed

Commits on Feb 9, 2024

Commits on Feb 26, 2024

Commits on Feb 27, 2024

typo fixed
HansOersted
committed

Commits on Mar 1, 2024