diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
index 99050d9738..d15b2c81cf 100644
--- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
+      debug: false
+      lanelet_extra_margin: 0.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
index fb6f1131e1..da9b694564 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
+      debug: false
+      lanelet_extra_margin: 0.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
index 330a4605a1..a784fcb8c0 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
+      debug: false
+      lanelet_extra_margin: 0.0
diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz
index 4b7ce39e51..533b601ccf 100644
--- a/autoware_launch/rviz/planning_bev.rviz
+++ b/autoware_launch/rviz/planning_bev.rviz
@@ -118,7 +118,7 @@ Visualization Manager:
                 Depth: 5
                 Durability Policy: Volatile
                 History Policy: Keep Last
-                Reliability Policy: Best Effort
+                Reliability Policy: Reliable
                 Value: /robot_description
               Enabled: true
               Links: