diff --git a/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
index d6152c4f56..d2226091b5 100644
--- a/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
+++ b/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     # -- Node Configurations --
-    planning_algorithm: "astar"
+    planning_algorithm: "astar" # options: astar, rrtstar
     waypoints_velocity: 5.0
     update_rate: 10.0
     th_arrived_distance_m: 1.0
@@ -15,10 +15,6 @@
     # -- Configurations common to the all planners --
     # base configs
     time_limit: 30000.0
-    # robot configs # TODO replace by vehicle_info
-    robot_length: 4.5
-    robot_width: 1.75
-    robot_base2back: 1.0
     minimum_turning_radius: 9.0
     maximum_turning_radius: 9.0
     turning_radius_size: 1