fix(vehicle_cmd_gate): fix publisher HZ in the unit test

[takayuki5168]

Description

Related to #6612.
Based on the following analysis and suggestion by @xmfcx, the unit test in the vehicle_cmd_gate uses more precise 100Hz publisher.
#6612 (comment)

Tests performed

Unit test

Effects on system behavior

Nothing

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[xmfcx]

@takayuki5168 the updates look good, thanks.

It seems the tests are still failing:

• https://github.com/autowarefoundation/autoware.universe/actions/runs/8369660456/job/22915775859?pr=6661#step:8:440
  • Expected: (std::abs(lon_jerk)) < (max_lon_jerk_lim * threshold_scale), actual: 1.56625 vs 1.54
• https://github.com/autowarefoundation/autoware.universe/actions/runs/8369660456/job/22915775859?pr=6661#step:8:439
  • Expected: (std::abs(lon_jerk)) < (max_lon_jerk_lim * threshold_scale), actual: 1.56625 vs 1.54

autoware.universe/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp

Lines 258 to 264 in 38db8e9

	constexpr auto threshold_scale = 1.1;
	if (std::abs(lon_vel) > 0.01) {
	ASSERT_LT_NEAR(std::abs(lon_acc), max_lon_acc_lim, threshold_scale);
	ASSERT_LT_NEAR(std::abs(lon_jerk), max_lon_jerk_lim, threshold_scale);
	ASSERT_LT_NEAR(std::abs(lat_acc), max_lat_acc_lim, threshold_scale);
	ASSERT_LT_NEAR(std::abs(lat_jerk), max_lat_jerk_lim, threshold_scale);
	}

It might make sense to just increase threshold_scale to 1.2 or 1.3, but I'm not sure if this contradicts with the test itself.

[xmfcx]

autoware.universe/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp

Lines 236 to 239 in 38db8e9

	const auto dt = (cmd_received_times_.at(i_curr) - cmd_received_times_.at(i_prev)).seconds();
	const auto lon_vel = cmd_curr->longitudinal.speed;
	const auto lon_acc = cmd_curr->longitudinal.acceleration;
	const auto lon_jerk = (lon_acc - cmd_prev->longitudinal.acceleration) / dt;

In the current implementation, acceleration and jerk are calculated based on instantaneous measurements, leading to potential abrupt changes due to the high sensitivity to small fluctuations in data.

Especially for these 1nd and 2rd order derivatives of speed.

To achieve smoother and more reliable readings, I suggest averaging these values over a 20-30 ms window.

This method will help reduce noise and better reflect the vehicle's dynamics, improving the test's reliability.

[xmfcx]

To achieve smoother and more reliable readings, I suggest averaging these values over a 20-30 ms window.

@takayuki5168 -san, I've implemented this in:

• fix(vehicle_cmd_gate): fix publisher HZ in the unit test by introducing variable window length #6665

I hope it works. (It is continued from your commit)

[xmfcx]

Closing this since:

• fix(vehicle_cmd_gate): fix publisher HZ in the unit test by introducing variable window length #6665

includes the changes in this PR and is merged.