diff --git a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
index be18812b59..45014428d0 100644
--- a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
+++ b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    transition_timeout: 3.0
+    transition_timeout: 10.0
     frequency_hz: 10.0
     engage_acceptable_limits:
       allow_autonomous_in_stopped: true  # no check if the velocity is zero, always allowed.
diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
index 9290aa3c0a..a18e531806 100644
--- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -39,6 +39,7 @@
       num_fix_points_for_extending: 50 # number of fixing points when extending
       max_dist_for_extending_end_point: 0.0001 # minimum delta dist thres for extending last point [m]
 
+      enable_clipping_fixed_traj: false
       non_fixed_trajectory_length: 5.0 # length of the trajectory merging optimized mpt trajectory to original(not optimized) trajectory
 
     object:  # avoiding object
diff --git a/system_launch/config/component_state_monitor/topics.yaml b/system_launch/config/component_state_monitor/topics.yaml
index b55dfa5aec..5a5f2e880b 100644
--- a/system_launch/config/component_state_monitor/topics.yaml
+++ b/system_launch/config/component_state_monitor/topics.yaml
@@ -82,7 +82,7 @@
   args:
     node_name_suffix: mission_planning_route
     topic: /planning/mission_planning/route
-    topic_type: autoware_auto_planning_msgs/msg/HADMapRoute
+    topic_type: autoware_planning_msgs/msg/LaneletRoute
     best_effort: false
     transient_local: true
     warn_rate: 0.0