From ec54dd32d93a972f84627450f06857b64e4856c2 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 16 Jan 2024 16:09:29 +0900
Subject: [PATCH] fix: change the way to disable surround_obstacle_checker
 (#794)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 autoware_launch/config/planning/preset/default_preset.yaml      | 2 +-
 .../launch/components/tier4_planning_component.launch.xml       | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 3df13a108d..3512d722ec 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -112,7 +112,7 @@ launch:
 
   - arg:
       name: launch_surround_obstacle_checker
-      default: "true"
+      default: "false"
 
   # parking modules
   - arg:
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 06740146f5..3e9061da80 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -8,7 +8,6 @@
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    <arg name="launch_surround_obstacle_checker" value="false"/>
 
     <!-- common -->
     <arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>