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 @@
 
   <arg name="respawn" default="true" />
   <arg name="launch_default_ad_api" default="true"/>
+  <arg name="max_message_size" default="1000000000" />
 
   <!-- AD API -->
   <group if="$(var launch_default_ad_api)">
@@ -31,6 +32,7 @@
   <!-- TODO: respawn will work once https://github.com/ros2/launch/pull/569 is released. I'll delete this comment when it's done. -->
   <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
       <arg name="respawn" value="$(var respawn)"/>
+      <arg name="max_message_size" value="$(var max_message_size)"/>
   </include>
 
 </launch>
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 @@
     <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml" />
     <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml" />
     <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml" />
+    <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml" />
     <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml" />
     <param name="bt_tree_config_path" value="$(find-pkg-share behavior_path_planner)/config/behavior_path_planner_tree.xml"/>
   </node>
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 @@
   <arg name="model" default="$(find-pkg-share vehicle_launch)/urdf/vehicle.xacro" description="path to the file of model settings (*.xacro)"/>
   <arg name="config_dir" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)" description="path to the directory of calibration parameters"/>
   <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
-    <param name="robot_description" value="$(command 'xacro $(var model) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir)')"/>
+    <param name="robot_description" value="$(command 'xacro $(var model) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir)' 'warn')"/>
   </node>
 
 </launch>