diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
index 008832b1ca..2d044e7cfd 100644
--- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
+++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
@@ -1,5 +1,10 @@
/**:
ros__parameters:
+ # Enable feature
+ will_out_of_lane_checker: true
+ out_of_lane_checker: true
+ boundary_departure_checker: false
+
# Node
update_rate: 10.0
visualize_lanelet: false
@@ -7,7 +12,7 @@
include_left_lanes: false
include_opposite_lanes: false
include_conflicting_lanes: false
- road_border_departure_checker: false
+ boundary_types_to_detect: [road_border]
# Core
footprint_margin_scale: 1.0
diff --git a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
index a86443f5ca..a4e8ab2c83 100644
--- a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
+++ b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
@@ -2,6 +2,10 @@
ros__parameters:
transition_timeout: 10.0
frequency_hz: 10.0
+
+ # set true if you want to engage the autonomous driving mode while the vehicle is driving. If set to false, it will deny Engage in any situation where the vehicle speed is not zero. Note that if you use this feature without adjusting the parameters, it may cause issues like sudden deceleration. Before using, please ensure the engage condition and the vehicle_cmd_gate transition filter are appropriately adjusted.
+ enable_engage_on_driving: false
+
check_engage_condition: false # set false if you do not want to care about the engage condition.
nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index a089da6397..9ce8a421e9 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -18,6 +18,8 @@
+
+
@@ -56,6 +58,7 @@
+