feat(mpc_lateral_controller) add integrator friendly parameters to mpc lateral control

[mkquda]

Description

Add parameter to limit change in steering offset, and implement logic to apply change limit in mpc_lateral_controller

Related links

Parent Issue:

• Link

How was this PR tested?

PSIM

Notes for reviewers

requires autowarefoundation/autoware_launch#1792

Interface changes

ROS Parameter Changes

Change type	Parameter Name	Type	Default Value	Description
Added	steering_offset.max_update_th	double	0.01	threshold for maximum change in steering offset [rad]

Effects on system behavior

None.

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[codecov]

Codecov Report

❌ Patch coverage is 85.71429% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 18.91%. Comparing base (d4106f8) to head (869b955).
⚠️ Report is 4 commits behind head on main.

Files with missing lines	Patch %	Lines
..._lateral_controller/src/mpc_lateral_controller.cpp	85.71%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #12301      +/-   ##
==========================================
+ Coverage   18.36%   18.91%   +0.55%     
==========================================
  Files        1849     1851       +2     
  Lines      128005   128142     +137     
  Branches    45554    45587      +33     
==========================================
+ Hits        23507    24238     +731     
- Misses      85042    85143     +101     
+ Partials    19456    18761     -695     

Flag	Coverage Δ		*Carryforward flag
daily	20.76% <ø> (+<0.01%)	⬆️	Carriedforward from d4106f8
daily-cuda	18.36% <ø> (+<0.01%)	⬆️	Carriedforward from d4106f8
differential	45.83% <85.71%> (?)
total-cuda	18.36% <ø> (+<0.01%)	⬆️	Carriedforward from d4106f8

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[TaikiYamada4]

@mkquda
I believe this PR clamps the update amount of the steer_offset_target between two executions of run() in the mpc_lateral_controller, which only limits the update amount between ctrl_period:=0.03 seconds. Therefore, the controller looks like trying to compensate the steering offset as usual even if the steering_offset_update is larger than expected.

Since this change is aimed to make safe control by preventing the effect of drastic changes of steering_offset_update, I think clamping the value in set_steering_offset makes more sense to me. What do you think?