feat(simple_planning_simulator): add VGR sim model

[kosuke55]

Description

As shown in #8504, add conversion from steer angle to handle angle by variable gear ratio to raw_vehicle_cmd_converter.
To simulate this, implement a model that works with handle angle. And add atuation status publishing.

1. same VGR coef in converter and sim
   raw_vehicle_cmd_converter

    convert_steer_cmd_method: "vgr"
    vgr_coef_a: 15.713
    vgr_coef_b: 0.053
    vgr_coef_c: 0.042
    convert_actuation_to_steering_status: true

sim

    accel_time_delay: 0.1
    accel_time_constant: 0.1
    brake_time_delay: 0.1
    brake_time_constant: 0.1
    accel_map_path: $(find-pkg-share simple_planning_simulator)/data/actuation_cmd_map/accel_map.csv
    brake_map_path: $(find-pkg-share simple_planning_simulator)/data/actuation_cmd_map/brake_map.csv

    convert_accel_cmd: true
    convert_brake_cmd: true
    convert_steer_cmd: true

    convert_steer_cmd_method: "vgr"
    vgr_coef_a: 15.713
    vgr_coef_b: 0.053
    vgr_coef_c: 0.042
    enable_pub_steer: false

vgr_sim-2024-08-08_21.18.15.mp4

2. change sim VGR

    convert_steer_cmd_method: "vgr"
    vgr_coef_a: 5.0
    vgr_coef_b: 2.0
    vgr_coef_c: 1.0
    convert_actuation_to_steering_status: true
    enable_pub_steer: false

vgr_sim-2024-08-08_23.04.50.mp4

Related links

Parent Issue:

• Link

How was this PR tested?

• psim
• add unit test

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[codecov]

Codecov Report

Attention: Patch coverage is 82.72727% with 19 lines in your changes missing coverage. Please review.

Project coverage is 23.96%. Comparing base (9a461b4) to head (3696f5f).
Report is 45 commits behind head on main.

Files	Patch %	Lines
...imulator/vehicle_model/sim_model_actuation_cmd.cpp	87.01%	2 Missing and 8 partials ⚠️
...nning_simulator/simple_planning_simulator_core.cpp	71.42%	2 Missing and 6 partials ⚠️
...ng_simulator/vehicle_model/sim_model_interface.hpp	50.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8415      +/-   ##
==========================================
+ Coverage   23.90%   23.96%   +0.05%     
==========================================
  Files        1381     1383       +2     
  Lines      101923   102054     +131     
  Branches    38808    38866      +58     
==========================================
+ Hits        24363    24453      +90     
- Misses      75116    75144      +28     
- Partials     2444     2457      +13     

Flag	Coverage Δ		*Carryforward flag
differential	27.42% <82.72%> (?)
total	23.89% <ø> (-0.01%)	⬇️	Carriedforward from 8dbdd04

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[TakaHoribe]

The VehicleModelType should not be used here for extensibility. Please define steering_publish_type in constructor, use it here.

[kosuke55]

fixed in ed78398

[kosuke55]

added virtual bool shouldPublishActuationStatus() const { return false; }

[TakaHoribe]

The use of dynamic_pointer_cast should be avoided as much as possible. In this case, you can add a getActuationStatus() in a base class with returning zero by default.

[kosuke55]

fixed in ed78398

[kosuke55]

returning zero by default.

I return not zoro but null