Remove unused params, add debug id param

Signed-off-by: Maxime CLEMENT <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml

@@ -8,6 +8,7 @@
     debug:
       # flag to show
       enable_calculation_time_info: false
+      id: 0  # id of the candidate paths for which to print/show details (e.g., footprint in rviz)
 
     preprocessing:
       force_zero_initial_deviation: True  # if true, initial planning starts from the reference path
@@ -19,23 +20,22 @@
         min_curvature: -0.2
       soft:
         lateral_deviation_weight: 0.1
-        longitudinal_deviation_weight: 1.0
-        length_weight: -1.0  # negative weight to turn the length cost into a reward
+        length_weight: 1.0
         curvature_weight: 1.0
     sampling:
       enable_frenet: True
       enable_bezier: True
       resolution: 0.5
-      previous_path_reuse_points_nb: 3  # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc)
-      target_lengths: [5.0, 10.0, 15.0, 20.0]
+      previous_path_reuse_points_nb: 2  # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc)
+      target_lengths: [10.0, 20.0]
       frenet:
-        target_lateral_positions: [0.0]
-        target_lateral_velocities: [0.0]
+        target_lateral_positions: [-0.5, 0.0, 0.5]
+        target_lateral_velocities: [-0.1, 0.0, 0.1]
         target_lateral_accelerations: [0.0]
       bezier:
         nb_k: 3
         mk_min: 0.0
         mk_max: 10.0
-        nb_t: 10
+        nb_t: 5
         mt_min: 0.3
         mt_max: 1.7