fix(vehicle_cmd_gate): use real velocity for the lateral filter

[TakaHoribe]

Description

Use the real velocity for the lateral command filter.
Otherwise, if the velocity command oscillates, the filtered steering oscillates.
The drawback is that it won't guarantee the constraints are met in the series of the output command itself. (We need to see the actual velocity data to check it.) But this is much safer than the previous implementation.

Related links

TIERIV Internal ticket

Tests performed

Run in a real vehicle testing and it worked well.

Notes for reviewers

None

Interface changes

None

Effects on system behavior

Improve the filtering. No effect in the default parameter.

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[TakaHoribe]

Need to fix test

[codecov]

Codecov Report

Patch coverage: 36.17% and no project coverage change.

Comparison is base (2e6bc3f) 15.92% compared to head (1f72f71) 15.93%.
Report is 3 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4918   +/-   ##
=======================================
  Coverage   15.92%   15.93%           
=======================================
  Files        1579     1579           
  Lines      108886   108895    +9     
  Branches    33584    33586    +2     
=======================================
+ Hits        17344    17352    +8     
  Misses      72944    72944           
- Partials    18598    18599    +1     

Flag	Coverage Δ		*Carryforward flag
differential	41.69% <36.17%> (?)
total	15.92% <ø> (-0.01%)	⬇️	Carriedforward from 2e6bc3f

*This pull request uses carry forward flags. Click here to find out more.

Files Changed	Coverage Δ
...ontrol/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp	25.00% <ø> (ø)
...icle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp	42.48% <23.68%> (+1.94%)	⬆️
...ontrol/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp	72.02% <87.50%> (+0.39%)	⬆️
.../test/src/test_filter_in_vehicle_cmd_gate_node.cpp	60.81% <100.00%> (-0.27%)	⬇️

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[tkimura4]

LGTM!