refactor(behavior_path_planner): remove use_experimental_lane_change_…

…function (#5889) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Dec 18, 2023 · 68e7434 · 68e7434
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diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -210,7 +210,6 @@
       <param from="$(var behavior_path_planner_drivable_area_expansion_param_path)"/>
       <param from="$(var behavior_path_planner_scene_module_manager_param_path)"/>
       <param from="$(var behavior_path_planner_common_param_path)"/>
-      <param name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
       <!-- composable node config -->
       <extra_arg name="use_intra_process_comms" value="false"/>
     </composable_node>

diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md
@@ -139,7 +139,6 @@ Enabling and disabling the modules in the behavior path planner is primarily man
 The `default_preset.yaml` file acts as a configuration file for enabling or disabling specific modules within the planner. It contains a series of arguments which represent the behavior path planner's modules or features. For example:
 
 - `launch_avoidance_module`: Set to `true` to enable the avoidance module, or `false` to disable it.
-- `use_experimental_lane_change_function`: Set to `true` to enable experimental features in the lane change module.
 
 !!! note