diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
index fbe6b5d75..78e123ded 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -18,6 +18,7 @@
       enable_pre_smoothing: true # enable EB
       skip_optimization: false # skip MPT and EB
       reset_prev_optimization: false
+      is_considering_footprint_edges: false # consider ego footprint edges to decide whether footprint is outside drivable area
 
     common:
       # sampling
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
index 8954a46ab..93f9d522f 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    hunting_threshold: 0.5                   # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s]
+    chattering_threshold: 0.5                # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s]
     lowpass_gain: 0.9                        # gain parameter for low pass filter [-]
     max_velocity: 20.0                       # max velocity [m/s]
     enable_slow_down: False                  # whether to use slow down planner [-]
diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml
new file mode 100644
index 000000000..1a57b852f
--- /dev/null
+++ b/autoware_launch/config/simulator/fault_injection.param.yaml
@@ -0,0 +1,37 @@
+/**:
+  ros__parameters:
+    event_diag_list:
+      vehicle_is_out_of_lane: "lane_departure"
+      trajectory_deviation_is_high: "trajectory_deviation"
+      localization_matching_score_is_low: "ndt_scan_matcher"
+      localization_accuracy_is_low: "localization_accuracy"
+      map_version_is_different: "map_version"
+      trajectory_is_invalid: "trajectory_point_validation"
+      cpu_temperature_is_high: "CPU Temperature"
+      cpu_usage_is_high: "CPU Usage"
+      cpu_is_in_thermal_throttling: "CPU Thermal Throttling"
+      storage_temperature_is_high: "HDD Temperature"
+      storage_usage_is_high: "HDD Usage"
+      network_usage_is_high: "Network Usage"
+      clock_error_is_large: "NTP Offset"
+      gpu_temperature_is_high: "GPU Temperature"
+      gpu_usage_is_high: "GPU Usage"
+      gpu_memory_usage_is_high: "GPU Memory Usage"
+      gpu_is_in_thermal_throttling: "GPU Thermal Throttling"
+      driving_recorder_storage_error: "driving_recorder"
+      debug_data_logger_storage_error: "bagpacker"
+      emergency_stop_operation: "emergency_stop_operation"
+      vehicle_error_occurred: "vehicle_errors"
+      vehicle_ecu_connection_is_lost: "can_bus_connection"
+      obstacle_crash_sensor_is_activated: "obstacle_crash"
+      /control/command_gate/node_alive_monitoring: "vehicle_cmd_gate: heartbeat"
+      /control/autonomous_driving/node_alive_monitoring: "control_topic_status"
+      /control/external_command_selector/node_alive_monitoring: "external_cmd_selector: heartbeat"
+      /localization/node_alive_monitoring: "localization_topic_status"
+      /map/node_alive_monitoring: "map_topic_status"
+      /planning/node_alive_monitoring: "planning_topic_status"
+      /sensing/lidar/node_alive_monitoring: "lidar_topic_status"
+      /sensing/imu/node_alive_monitoring: "imu_connection"
+      /sensing/gnss/node_alive_monitoring: "gnss_connection"
+      /system/node_alive_monitoring: "system_topic_status"
+      /vehicle/node_alive_monitoring: "vehicle_topic_status"