diff --git a/system/autoware_default_adapi/src/planning.cpp b/system/autoware_default_adapi/src/planning.cpp
index 98f1c846d202e..cbc254a6e522c 100644
--- a/system/autoware_default_adapi/src/planning.cpp
+++ b/system/autoware_default_adapi/src/planning.cpp
@@ -45,6 +45,9 @@ const std::map<std::string, std::string> conversion_map = {
   {"blind_spot", PlanningBehavior::REAR_CHECK},
   {"obstacle_cruise_planner", PlanningBehavior::ROUTE_OBSTACLE},
   {"obstacle_stop_planner", PlanningBehavior::ROUTE_OBSTACLE},
+  {"obstacle_stop", PlanningBehavior::ROUTE_OBSTACLE},
+  {"obstacle_slow_down", PlanningBehavior::ROUTE_OBSTACLE},
+  {"obstacle_cruise", PlanningBehavior::ROUTE_OBSTACLE},
   {"motion_velocity_planner", PlanningBehavior::ROUTE_OBSTACLE},
   {"walkway", PlanningBehavior::SIDEWALK},
   {"start_planner", PlanningBehavior::START_PLANNER},
@@ -217,6 +220,9 @@ PlanningNode::PlanningNode(const rclcpp::NodeOptions & options) : Node("planning
     "/planning/planning_factors/no_stopping_area",
     "/planning/planning_factors/obstacle_cruise_planner",
     "/planning/planning_factors/obstacle_stop_planner",
+    "/planning/planning_factors/obstacle_stop",
+    "/planning/planning_factors/obstacle_cruise",
+    "/planning/planning_factors/obstacle_slow_down",
     "/planning/planning_factors/occlusion_spot",
     "/planning/planning_factors/run_out",
     "/planning/planning_factors/stop_line",