feat(trajectory_follower): publsih control horzion #8977
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Signed-off-by: kosuke55 <[email protected]>
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Description
Publish control horizon topic as experimental one.
Although this is an informal interface, it is a useful topic for users who want to maximize control performance in vehicular nodes.
If the longitudinal and lateral time steps are different, calculate the greatest common divisor time step and align the sizes with zero-order hold.
If one size is 1, repeat to match the other size.
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Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.