Change back testing parameters to default

Signed-off-by: Daniel Sanchez <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -100,7 +100,7 @@
           max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
 
       slow_down:
-        max_lat_margin: 1.5  # lateral margin between obstacle and trajectory band with ego's width
+        max_lat_margin: 1.1  # lateral margin between obstacle and trajectory band with ego's width
         lat_hysteresis_margin: 0.2
 
         successive_num_to_entry_slow_down_condition: 5
@@ -181,17 +181,11 @@
       # parameters to calculate slow down velocity by linear interpolation
       labels:
         - "default"
-        - "pedestrian"
       default:
         min_lat_margin: 0.2
         max_lat_margin: 1.0
         min_ego_velocity: 2.0
         max_ego_velocity: 8.0
-      pedestrian:
-        min_lat_margin: 0.5
-        max_lat_margin: 1.5
-        min_ego_velocity: 1.0
-        max_ego_velocity: 2.0
 
       time_margin_on_target_velocity: 1.5 # [s]
 

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -4,7 +4,7 @@
   <!-- behavior -->
   <arg name="use_experimental_lane_change_function" default="true"/>
   <!-- motion -->
-  <arg name="cruise_planner_type" default="obstacle_cruise_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
+  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
   <arg name="use_surround_obstacle_check" default="true"/>
   <arg name="path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
   <arg name="velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>