fix(motion_velocity_smoother): fix the arg name of the parameter

[TomohitoAndo]

Description

Parameters of motion velocity smoother was not passed from the config in the autoware launch because the arg name is wrong.
The arg name should be velocity_smoother_param_path

autoware.universe/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml

Line 34 in 1e68b91

<arg name="velocity_smoother_param_path" value="$(var velocity_smoother_type_param_path)"/>

Tests performed

Before

$ ros2 param dump /planning/scenario_planning/motion_velocity_smoother
/planning/scenario_planning/motion_velocity_smoother:
  ros__parameters:
    algorithm_type: JerkFiltered
    curvature_calculation_distance: 1.0
    curvature_threshold: 0.02
    decel_distance_after_curve: 2.0
    decel_distance_before_curve: 3.5
    dense_min_interval_distance: 0.1
    dense_resample_dt: 0.2
    ego_nearest_dist_threshold: 3.0
    ego_nearest_yaw_threshold: 1.046
    engage_acceleration: 0.1
    engage_exit_ratio: 0.5
    engage_velocity: 0.25
    extract_ahead_dist: 200.0
    extract_behind_dist: 5.0
    front_overhang: 1.0
    jerk_filter_ds: 0.1
    jerk_weight: 10.0
    left_overhang: 0.128
    margin_to_insert_external_velocity_limit: 0.3
    max_lateral_accel: 1.0
    max_steer_angle: 0.7
    max_steering_angle_rate: 40.0
    max_trajectory_length: 200.0
    max_velocity: 20.0
    min_curve_velocity: 2.74
    min_decel_for_lateral_acc_lim_filter: -2.5
    min_trajectory_length: 180.0
    normal:
      max_acc: 1.0
      max_jerk: 1.0
      min_acc: -1.0
      min_jerk: -1.0
    over_a_weight: 5000.0
    over_j_weight: 2000.0
    over_stop_velocity_warn_thr: 1.389
    over_v_weight: 100000.0
    plan_from_ego_speed_on_manual_mode: true
    post_dense_min_interval_distance: 0.1
    post_dense_resample_dt: 0.1
    post_max_trajectory_length: 300.0
    post_min_trajectory_length: 30.0
    post_resample_time: 10.0
    post_sparse_min_interval_distance: 1.0
    post_sparse_resample_dt: 0.1
    publish_debug_trajs: false
    qos_overrides:
      /parameter_events:
        publisher:
          depth: 1000
          durability: volatile
          history: keep_last
          reliability: reliable
    rear_overhang: 1.1
    replan_vel_deviation: 5.53
    resample_ds: 0.1
    resample_time: 2.0
    right_overhang: 0.128
    sparse_min_interval_distance: 4.0
    sparse_resample_dt: 0.5
    stop_decel: 0.0
    stop_dist_to_prohibit_engage: 0.5
    stopping_distance: 0.0
    stopping_velocity: 2.778
    use_sim_time: false
    vehicle_height: 2.5
    wheel_base: 2.79
    wheel_radius: 0.383
    wheel_tread: 1.64
    wheel_width: 0.235

After

$ ros2 param dump /planning/scenario_planning/motion_velocity_smoother
/planning/scenario_planning/motion_velocity_smoother:
  ros__parameters:
    algorithm_type: JerkFiltered
    curvature_calculation_distance: 1.0
    curvature_threshold: 0.02
    decel_distance_after_curve: 2.0
    decel_distance_before_curve: 3.5
    dense_min_interval_distance: 0.1
    dense_resample_dt: 0.2
    ego_nearest_dist_threshold: 3.0
    ego_nearest_yaw_threshold: 1.046
    engage_acceleration: 0.1
    engage_exit_ratio: 0.5
    engage_velocity: 0.25
    extract_ahead_dist: 200.0
    extract_behind_dist: 5.0
    front_overhang: 1.0
    jerk_filter_ds: 0.1
    jerk_weight: 0.1
    left_overhang: 0.128
    margin_to_insert_external_velocity_limit: 0.3
    max_lateral_accel: 1.0
    max_steer_angle: 0.7
    max_steering_angle_rate: 40.0
    max_trajectory_length: 200.0
    max_velocity: 20.0
    min_curve_velocity: 2.74
    min_decel_for_lateral_acc_lim_filter: -2.5
    min_trajectory_length: 180.0
    normal:
      max_acc: 1.0
      max_jerk: 1.0
      min_acc: -1.0
      min_jerk: -1.0
    over_a_weight: 500.0
    over_j_weight: 200.0
    over_stop_velocity_warn_thr: 1.389
    over_v_weight: 10000.0
    plan_from_ego_speed_on_manual_mode: true
    post_dense_min_interval_distance: 0.1
    post_dense_resample_dt: 0.1
    post_max_trajectory_length: 300.0
    post_min_trajectory_length: 30.0
    post_resample_time: 10.0
    post_sparse_min_interval_distance: 1.0
    post_sparse_resample_dt: 0.1
    publish_debug_trajs: false
    qos_overrides:
      /parameter_events:
        publisher:
          depth: 1000
          durability: volatile
          history: keep_last
          reliability: reliable
    rear_overhang: 1.1
    replan_vel_deviation: 5.53
    resample_ds: 0.1
    resample_time: 2.0
    right_overhang: 0.128
    sparse_min_interval_distance: 4.0
    sparse_resample_dt: 0.5
    stop_decel: 0.0
    stop_dist_to_prohibit_engage: 0.5
    stopping_distance: 0.0
    stopping_velocity: 2.778
    use_sim_time: false
    vehicle_height: 2.5
    wheel_base: 2.79
    wheel_radius: 0.383
    wheel_tread: 1.64
    wheel_width: 0.235

Parameters in autoware launch is passed after this PR.
https://github.com/autowarefoundation/autoware_launch/blob/dd3f79f355e364d4f5bee9d387601aaa4c54ed06/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (cf42588) 15.10% compared to head (433eb45) 15.10%.
Report is 7 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
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  Coverage   15.10%   15.10%           
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  Files        1563     1563           
  Lines      107888   107888           
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Flag	Coverage Δ		*Carryforward flag
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total	15.10% <ø> (ø)		Carriedforward from cf42588

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