add awsim_jpt parameter from JPT2 (autowarefoundation#702)

autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml

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+/**:
+  ros__parameters:
+    # -- system --
+    traj_resample_dist: 0.1         # path resampling interval [m]
+    use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
+    admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
+    admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
+
+    # -- path smoothing --
+    enable_path_smoothing: true    # flag for path smoothing
+    path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
+    curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
+    curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
+
+    # -- trajectory extending --
+    extend_trajectory_for_end_yaw_control: true  # flag of trajectory extending for terminal yaw control
+
+    # -- mpc optimization --
+    qp_solver_type: "osqp"                       # optimization solver option (unconstraint_fast or osqp)
+    mpc_prediction_horizon: 50                   # prediction horizon step
+    mpc_prediction_dt: 0.1                       # prediction horizon period [s]
+    mpc_weight_lat_error: 0.2                    # lateral error weight in matrix Q
+    mpc_weight_heading_error: 0.0                # heading error weight in matrix Q
+    mpc_weight_heading_error_squared_vel: 0.03   # heading error * velocity weight in matrix Q
+    mpc_weight_steering_input: 1.0               # steering error weight in matrix R
+    mpc_weight_steering_input_squared_vel: 1.00  # steering error * velocity weight in matrix R
+    mpc_weight_lat_jerk: 0.0                     # lateral jerk weight in matrix R
+    mpc_weight_steer_rate: 0.0                   # steering rate weight in matrix R
+    mpc_weight_steer_acc: 0.000001               # steering angular acceleration weight in matrix R
+    mpc_low_curvature_weight_lat_error: 0.05                   # lateral error weight in matrix Q in low curvature point
+    mpc_low_curvature_weight_heading_error: 0.0                # heading error weight in matrix Q in low curvature point
+    mpc_low_curvature_weight_heading_error_squared_vel: 0.03   # heading error * velocity weight in matrix Q in low curvature point
+    mpc_low_curvature_weight_steering_input: 1.0               # steering error weight in matrix R in low curvature point
+    mpc_low_curvature_weight_steering_input_squared_vel: 2.00  # steering error * velocity weight in matrix R in low curvature point
+    mpc_low_curvature_weight_lat_jerk: 0.0                     # lateral jerk weight in matrix R in low curvature point
+    mpc_low_curvature_weight_steer_rate: 0.0                   # steering rate weight in matrix R in low curvature point
+    mpc_low_curvature_weight_steer_acc: 0.000001               # steering angular acceleration weight in matrix R in low curvature point
+    mpc_low_curvature_thresh_curvature: 0.03                   # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03)
+    mpc_weight_terminal_lat_error: 1.0           # terminal lateral error weight in matrix Q to improve mpc stability
+    mpc_weight_terminal_heading_error: 0.1       # terminal heading error weight in matrix Q to improve mpc stability
+    mpc_zero_ff_steer_deg: 0.5                   # threshold that feed-forward angle becomes zero
+    mpc_acceleration_limit: 2.0                  # limit on the vehicle's acceleration
+    mpc_velocity_time_constant: 0.3              # time constant used for velocity smoothing
+    mpc_min_prediction_length: 5.0               # minimum prediction length
+
+    # -- vehicle model --
+    vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
+    input_delay: 0.1                 # steering input delay time for delay compensation
+    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
+    curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
+    steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
+    acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
+    velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]
+
+    # -- lowpass filter for noise reduction --
+    steering_lpf_cutoff_hz: 10.0     # cutoff frequency of lowpass filter for steering command [Hz]
+    error_deriv_lpf_cutoff_hz: 5.0
+
+    # stop state: steering command is kept in the previous value in the stop state.
+    stop_state_entry_ego_speed: 0.2
+    stop_state_entry_target_speed: 0.2
+    converged_steer_rad: 0.1
+    keep_steer_control_until_converged: true
+    new_traj_duration_time: 1.0
+    new_traj_end_dist: 0.3
+    mpc_converged_threshold_rps:  0.01 # threshold of mpc convergence check [rad/s]
+
+    # steer offset
+    steering_offset:
+      enable_auto_steering_offset_removal: true
+      update_vel_threshold: 5.56
+      update_steer_threshold: 0.035
+      average_num: 1000
+      steering_offset_limit: 0.02

autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml

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+/**:
+  ros__parameters:
+    delay_compensation_time: 0.40
+
+    enable_smooth_stop: true
+    enable_overshoot_emergency: false
+    enable_large_tracking_error_emergency: false
+    enable_slope_compensation: true
+    enable_keep_stopped_until_steer_convergence: true
+
+    # state transition
+    drive_state_stop_dist: 0.5
+    drive_state_offset_stop_dist: 1.0
+    stopping_state_stop_dist: 0.5
+    stopped_state_entry_duration_time: 0.1
+    stopped_state_entry_vel: 0.01
+    stopped_state_entry_acc: 0.1
+    emergency_state_overshoot_stop_dist: 1.5
+    emergency_state_traj_trans_dev: 3.0
+    emergency_state_traj_rot_dev: 0.7854
+
+    # drive state
+    kp: 2.0
+    ki: 0.02
+    kd: 0.0
+    max_out: 1.0
+    min_out: -5.0
+    max_p_effort: 0.5
+    min_p_effort: -5.0
+    max_i_effort: 0.3
+    min_i_effort: -0.3
+    max_d_effort: 0.0
+    min_d_effort: 0.0
+    lpf_vel_error_gain: 0.9
+    current_vel_threshold_pid_integration: 0.5
+    enable_brake_keeping_before_stop: false
+    brake_keeping_acc: -0.2
+
+    # smooth stop state
+    smooth_stop_max_strong_acc: -0.8
+    smooth_stop_min_strong_acc: -1.3
+    smooth_stop_weak_acc: -0.6
+    smooth_stop_weak_stop_acc: -0.8
+    smooth_stop_strong_stop_acc: -3.4
+    smooth_stop_max_fast_vel: 0.5
+    smooth_stop_min_running_vel: 0.01
+    smooth_stop_min_running_acc: 0.01
+    smooth_stop_weak_stop_time: 0.8
+    smooth_stop_weak_stop_dist: -0.3
+    smooth_stop_strong_stop_dist: -0.5
+
+    # stopped state
+    stopped_vel: 0.0
+    stopped_acc: -3.4
+    stopped_jerk: -5.0
+
+    # emergency state
+    emergency_vel: 0.0
+    emergency_acc: -5.0
+    emergency_jerk: -3.0
+
+    # acceleration limit
+    max_acc: 3.0
+    min_acc: -5.0
+
+    # jerk limit
+    max_jerk: 3.5
+    min_jerk: -5.0
+
+    # pitch
+    use_trajectory_for_pitch_calculation: false
+    lpf_pitch_gain: 0.95
+    max_pitch_rad: 0.1
+    min_pitch_rad: -0.1