update param file

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

planning_launch/config/planning_validator/planning_validator.param.yaml

@@ -1,8 +1,20 @@
 /**:
   ros__parameters:
+    # Operation option when invalid trajectory is detected
+    #  0: publish the trajectory even if it is invalid
+    #  1: stop publishing the trajectory
+    #  2: publish the last validated trajectory
+    invalid_trajectory_handling_type: 0
+
     publish_diag: true  # if true, diagnostic msg is published
-    use_previous_trajectory_on_invalid: true # if true, invalid trajectory is not published, previous valid trajectory is published instead.
+
+    # If the number of consecutive invalid trajectory exceeds this threshold, the Diag will be set to ERROR.
+    # (For example, threshold = 1 means, even if the trajectory is invalid, Diag will not be ERROR if
+    #  the next trajectory is valid.)
+    diag_error_count_threshold: 0
+
     display_on_terminal: true # show error msg on terminal
+
     thresholds:
       interval: 100.0
       relative_angle: 2.0  # (= 115 degree)