From a132ff35d263a55bf0af20c7286c5dc4a2b47123 Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Date: Mon, 19 Jun 2023 20:09:17 +0900
Subject: [PATCH] feat: disable external_lane_change (#517)

* feat: disable external_lane_change

* Update scene_module_manager_foa.param.yaml
---
 .../behavior_path_planner/scene_module_manager_foa.param.yaml | 4 ++--
 .../rtc_auto_mode_manager_foa.param.yaml                      | 2 --
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
index 0ca5483539..110128d264 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
@@ -4,14 +4,14 @@
 /**:
   ros__parameters:
     external_request_lane_change_left:
-      enable_module: true
+      enable_module: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       priority: 6
       max_module_size: 1
 
     external_request_lane_change_right:
-      enable_module: true
+      enable_module: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       priority: 6
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml
index 3c3aff7d88..369b28416e 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml
@@ -6,8 +6,6 @@
       - "detection_area"
       - "intersection"
       - "traffic_light"
-      - "external_request_lane_change_left"
-      - "external_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"