fix(mpc_lateral_controller): reset ctrl_cmd_prev during manual mode

[kyoichi-sugahara]

Description

Fix the reported issue

reset m_ctrl_cmd_prev during manual mode.

problem is described in the issue.

How to reproduce the problem in local environment

1. run logging_simulator with enabling only control module with following command

ros2 launch autoware_launch logging_simulator.launch.xml map_path:=/path_to_your_map/ vehicle_model:=your_vehicle sensor_model:=aip_xx1 perception:=false sensing:=false control:=true planning:=false localozation:=false

2. play rosbag
   To remap topics related to the trajectory_follower_node stored in a rosbag to the control topics used by autoware, you can use the following option command

--remap /control/trajectory_follower/control_cmd:=/exclude/control_cmd /control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms:=/exclude/lateral_processing_time_ms /control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms:=/exclude/longitudinal_processing_time_ms /control/trajectory_follower/controller_node_exe/output/debug_marker:=/exclude/debug_marker /control/trajectory_follower/controller_node_exe/output/estimated_steer_offset:=/exclude/estimated_steer_offset /control/trajectory_follower/lateral/predicted_trajectory:=/exclude/lateral/predicted_trajectory

Tests performed

• PASS TIERIV INTERNAL SCENARIOS

Effects on system behavior

Not applicable.

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[TakaHoribe]

should be like this !(is_autoware_control_enabled && mode==AUTONOMOUS)?

[kyoichi-sugahara]

Thanks! I addressed in 0516f5a

[TakaHoribe]

LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 3 lines in your changes are missing coverage. Please review.

Project coverage is 14.78%. Comparing base (59f7031) to head (0516f5a).
Report is 4 commits behind head on main.

Files	Patch %	Lines
..._lateral_controller/src/mpc_lateral_controller.cpp	0.00%	1 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6541      +/-   ##
==========================================
- Coverage   14.78%   14.78%   -0.01%     
==========================================
  Files        1917     1917              
  Lines      132038   132040       +2     
  Branches    39228    39230       +2     
==========================================
  Hits        19523    19523              
- Misses      90726    90727       +1     
- Partials    21789    21790       +1     

Flag	Coverage Δ		*Carryforward flag
differential	44.96% <0.00%> (?)
total	14.78% <ø> (+<0.01%)	⬆️	Carriedforward from 59f7031

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