feat: Update path smoothing and curvature calculation parameters

The `enable_path_smoothing` flag has been changed to `true` to enable path smoothing. Additionally, the `curvature_smoothing_num_ref_steer` parameter has been updated to `100` for improved curvature calculation.

Signed-off-by: kyoichi-sugahara <[email protected]>

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

@@ -8,10 +8,10 @@
     use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory
 
     # -- path smoothing --
-    enable_path_smoothing: false   # flag for 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)
+    curvature_smoothing_num_ref_steer: 100   # 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: false  # flag of trajectory extending for terminal yaw control