motion_velocity_smoother and behavior_velocity_planner should use the same smoother algorithm

[TomohitoAndo]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I've agreed with the maintainers that I can plan this task.

Description

Currently, behavior_velocity_planner uses the smoother to calculate the precise predicted velocity. But smoother algorithm type that behavior_velocity_planner uses is fixed to Analytical, so predicted velocity would be different if the motion_velocity_smoother node uses different smoother algorithm type. So I think the same smoother_type as motion_velocity_smoother should be passed to behavior_velocity_planner.

smoother_type for motion_velocity_smoother is specified here. https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml#L26-L27

behavior_velocity_planner creates an instance of smoother class (AnalyticalJerkConstrainedSmoother is always created) https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_velocity_planner/src/node.cpp#L305-L310

Purpose

The purpose of this task is to pass the smoother_type parameter to behavior_velocity_planner, and enables motion_velocity_smoother and behavior_velocity_planner to use the same smoother algorithm.

Possible approaches

• modify the launch file to pass the smoother_type argument to behavior_velocity_planner

Definition of done

• [ ] Confirm motion_velocity_smoother and behavior_velocity_planner uses the same predicted velocity with all smoother type

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.