From 55daa3c7f234f26c1479c051d4d9af75d9b9f888 Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Thu, 21 Sep 2023 14:56:47 +0900
Subject: [PATCH] set the params to be merged. use stop planner as cruise
 planner type (conventional setting) polygon expansion in
 obstacle_cruise_planner is true

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml  | 2 +-
 .../launch/components/tier4_planning_component.launch.xml       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 02dd015245..cb4d6a68c5 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -110,7 +110,7 @@
       # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence"
       # The both errors decrease with constant rates against the time.
       consider_current_pose:
-        enable_to_consider_current_pose: false
+        enable_to_consider_current_pose: true
         time_to_convergence: 1.5 #[s]
 
     cruise:
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 101afc5c35..ad55c76d82 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -4,7 +4,7 @@
   <!-- behavior -->
   <arg name="use_experimental_lane_change_function" default="true"/>
   <!-- motion -->
-  <arg name="cruise_planner_type" default="obstacle_cruise_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
+  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
   <arg name="use_surround_obstacle_check" default="true"/>
   <arg name="path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
   <arg name="velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>