diff --git a/autoware_api_launch/launch/autoware_api.launch.xml b/autoware_api_launch/launch/autoware_api.launch.xml
index 45c1f62d12..509e0c4f9c 100644
--- a/autoware_api_launch/launch/autoware_api.launch.xml
+++ b/autoware_api_launch/launch/autoware_api.launch.xml
@@ -2,6 +2,7 @@
+
@@ -31,6 +32,7 @@
+
diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
index 4a47cc89e2..e43553879c 100644
--- a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
+++ b/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -32,8 +32,8 @@
# resampling parameters for optimization
max_trajectory_length: 200.0 # max trajectory length for resampling [m]
min_trajectory_length: 150.0 # min trajectory length for resampling [m]
- resample_time: 5.0 # resample total time for dense sampling [s]
- dense_resample_dt: 0.1 # resample time interval for dense sampling [s]
+ resample_time: 2.0 # resample total time for dense sampling [s]
+ dense_resample_dt: 0.2 # resample time interval for dense sampling [s]
dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m]
sparse_resample_dt: 0.5 # resample time interval for sparse sampling [s]
sparse_min_interval_distance: 4.0 # minimum points-interval length for sparse sampling [m]
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
new file mode 100644
index 0000000000..660a4d2af0
--- /dev/null
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -0,0 +1,20 @@
+/**:
+ ros__parameters:
+ avoidance:
+ drivable_area_right_bound_offset: 0.0
+ drivable_area_left_bound_offset: 0.0
+ lane_change:
+ drivable_area_right_bound_offset: 0.0
+ drivable_area_left_bound_offset: 0.0
+ lane_following:
+ drivable_area_right_bound_offset: 0.0
+ drivable_area_left_bound_offset: 0.0
+ pull_out:
+ drivable_area_right_bound_offset: 0.0
+ drivable_area_left_bound_offset: 0.0
+ pull_over:
+ drivable_area_right_bound_offset: 0.0
+ drivable_area_left_bound_offset: 0.0
+ side_shift:
+ drivable_area_right_bound_offset: 0.0
+ drivable_area_left_bound_offset: 0.0
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
index f685f8a657..b6a9574bb4 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
@@ -1,7 +1,4 @@
/**:
ros__parameters:
lane_following:
- expand_drivable_area: false
- right_bound_offset: 0.5
- left_bound_offset: 0.5
lane_change_prepare_duration: 2.0
diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
index f3955b1aab..3b831d7080 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
+++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -120,6 +120,18 @@ def generate_launch_description():
with open(pull_out_param_path, "r") as f:
pull_out_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+ drivable_area_expansion_param_path = os.path.join(
+ get_package_share_directory("planning_launch"),
+ "config",
+ "scenario_planning",
+ "lane_driving",
+ "behavior_planning",
+ "behavior_path_planner",
+ "drivable_area_expansion.param.yaml",
+ )
+ with open(drivable_area_expansion_param_path, "r") as f:
+ drivable_area_expansion_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+
behavior_path_planner_param_path = os.path.join(
get_package_share_directory("planning_launch"),
"config",
@@ -156,6 +168,7 @@ def generate_launch_description():
lane_following_param,
pull_over_param,
pull_out_param,
+ drivable_area_expansion_param,
behavior_path_planner_param,
{
"bt_tree_config_path": [
diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index a16b2f56cb..ddd7e8b894 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -15,6 +15,7 @@
+
diff --git a/vehicle_launch/launch/vehicle_description.launch.xml b/vehicle_launch/launch/vehicle_description.launch.xml
index 3feda41d8c..5a2bd35382 100644
--- a/vehicle_launch/launch/vehicle_description.launch.xml
+++ b/vehicle_launch/launch/vehicle_description.launch.xml
@@ -9,7 +9,7 @@
-
+