From 0085075ec24abd914864a7bff0e79ba0731d4895 Mon Sep 17 00:00:00 2001
From: Maxime CLEMENT <maxime.clement@tier4.jp>
Date: Fri, 29 Sep 2023 18:22:09 +0900
Subject: [PATCH] deactivate other behavior velocity module

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
---
 .../behavior_velocity_planner.param.yaml      | 22 +++++++--------
 .../rtc_auto_mode_manager.param.yaml          | 28 +++++++++----------
 2 files changed, 25 insertions(+), 25 deletions(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index ebddd0c75c..8970c9e487 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -9,18 +9,18 @@
     delay_response_time: 0.5
     is_publish_debug_path: false # publish all debug path with lane id in each module
     launch_modules:
-      - behavior_velocity_planner::CrosswalkModulePlugin
-      - behavior_velocity_planner::WalkwayModulePlugin
-      - behavior_velocity_planner::TrafficLightModulePlugin
-      - behavior_velocity_planner::IntersectionModulePlugin      # Intersection module should be before merge from private to declare intersection parameters.
-      - behavior_velocity_planner::MergeFromPrivateModulePlugin
-      - behavior_velocity_planner::BlindSpotModulePlugin
-      - behavior_velocity_planner::DetectionAreaModulePlugin
-      # behavior_velocity_planner::VirtualTrafficLightModulePlugin
-      - behavior_velocity_planner::NoStoppingAreaModulePlugin     # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
-      - behavior_velocity_planner::StopLineModulePlugin           # Permanent stop line module should be after no stopping area
+      # - behavior_velocity_planner::CrosswalkModulePlugin
+      # - behavior_velocity_planner::WalkwayModulePlugin
+      # - behavior_velocity_planner::TrafficLightModulePlugin
+      # - behavior_velocity_planner::IntersectionModulePlugin      # Intersection module should be before merge from private to declare intersection parameters.
+      # - behavior_velocity_planner::MergeFromPrivateModulePlugin
+      # - behavior_velocity_planner::BlindSpotModulePlugin
+      # - behavior_velocity_planner::DetectionAreaModulePlugin
+      # # behavior_velocity_planner::VirtualTrafficLightModulePlugin
+      # - behavior_velocity_planner::NoStoppingAreaModulePlugin     # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
+      # - behavior_velocity_planner::StopLineModulePlugin           # Permanent stop line module should be after no stopping area
       # behavior_velocity_planner::OcclusionSpotModulePlugin
-      - behavior_velocity_planner::RunOutModulePlugin
+      # - behavior_velocity_planner::RunOutModulePlugin
       # behavior_velocity_planner::SpeedBumpModulePlugin
       - behavior_velocity_planner::OutOfLaneModulePlugin
       # behavior_velocity_planner::NoDrivableLaneModulePlugin
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
index 8f16690498..554583829f 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -1,12 +1,12 @@
 /**:
   ros__parameters:
     module_list:
-      - "blind_spot"
-      - "crosswalk"
-      - "detection_area"
-      - "intersection"
-      - "no_stopping_area"
-      - "traffic_light"
+      # - "blind_spot"
+      # - "crosswalk"
+      # - "detection_area"
+      # - "intersection"
+      # - "no_stopping_area"
+      # - "traffic_light"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"
@@ -15,15 +15,15 @@
       # - "avoidance_by_lane_change_right"
       - "goal_planner"
       - "start_planner"
-      - "intersection_occlusion"
+      # - "intersection_occlusion"
 
     default_enable_list:
-      - "blind_spot"
-      - "crosswalk"
-      - "detection_area"
-      - "intersection"
-      - "no_stopping_area"
-      - "traffic_light"
+      # - "blind_spot"
+      # - "crosswalk"
+      # - "detection_area"
+      # - "intersection"
+      # - "no_stopping_area"
+      # - "traffic_light"
       - "lane_change_left"
       - "lane_change_right"
       # - "avoidance_left"
@@ -32,4 +32,4 @@
       # - "avoidance_by_lane_change_right"
       - "goal_planner"
       - "start_planner"
-      - "intersection_occlusion"
+      # - "intersection_occlusion"