Merge pull request autowarefoundation#875 from tier4/dm/set_steer_tau (…

…autowarefoundation#877)

fix: use default vehicle_model_steer_tau in simulator

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

@@ -46,7 +46,7 @@
  # -- 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]
+ vehicle_model_steer_tau: 0.3 # 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]