update rviz config & planner params (autowarefoundation#305)

Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>

Author: 2 people

autoware_launch/rviz/autoware.rviz

@@ -1095,10 +1095,16 @@ Visualization Manager:
                       Namespaces:
                         collision_polygons: false
                         detection_polygons: false
+                        slow_down_polygons: false
+                        slow_down_detection_polygons: false
                         factor_text: true
                         stop_virtual_wall: true
                         stop_obstacle_point: false
                         stop_obstacle_text: false
+                        virtual_wall/slow_down_start: false
+                        factor_text/slow_down_start: false
+                        virtual_wall/slow_down_end: false
+                        factor_text/slow_down_end: false
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile

planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml

@@ -8,8 +8,8 @@
       expand_stop_range: 0.0 # margin of vehicle footprint [m]
 
     slow_down_planner:
-      slow_down_margin: 5.0 # margin distance from slow down point [m]
+      slow_down_forward_margin: 5.0 # margin distance from slow down point to vehicle front [m]
+      slow_down_backward_margin: 5.0 # margin distance from slow down point to vehicle rear [m]
       expand_slow_down_range: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
       max_slow_down_vel: 1.38 # max slow down velocity [m/s]
       min_slow_down_vel: 0.28 # min slow down velocity [m/s]
-      max_deceleration: 2.0   # max slow down deceleration [m/s2]