From 0e21568f8dc8820fa0a27a6aa375496af92a69ea Mon Sep 17 00:00:00 2001
From: Daniel Sanchez <daniel.sanchez@tier4.jp>
Date: Thu, 5 Oct 2023 16:13:14 +0900
Subject: [PATCH] Change back testing parameters to default

Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
---
 .../obstacle_cruise_planner.param.yaml                    | 8 +-------
 .../launch/components/tier4_planning_component.launch.xml | 2 +-
 2 files changed, 2 insertions(+), 8 deletions(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 6f6b6f752f..ddea1a9b56 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/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]
 
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 101afc5c35..ad55c76d82 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/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)"/>