restore

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -2,9 +2,9 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: $(var use_emergency_handling)
+    use_emergency_handling: false
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
-    use_start_request: $(var use_start_request)
+    use_start_request: false
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5
     filter_activated_velocity_threshold: 1.0

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

@@ -1,9 +1,9 @@
 /**:
   ros__parameters:
-    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: $(var enable_slow_down) # whether to use slow down planner [-]
+    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 [-]
     enable_z_axis_obstacle_filtering: True   # filter obstacles in z axis (height) [-]
     z_axis_filtering_buffer: 0.0             # additional buffer for z axis filtering [m]
     voxel_grid_x: 0.05                       # voxel grid x parameter for filtering pointcloud [m]