feat: enable dynamic_avoidance and disable outside_drivable_area_stop

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Author: takayuki5168

autoware_launch/config/planning/preset/default_preset.yaml

@@ -8,7 +8,7 @@ launch:
       default: "true"
   - arg:
       name: launch_dynamic_avoidance_module
-      default: "false"
+      default: "true"
   - arg:
       name: launch_sampling_planner_module
       default: "false" # Warning, experimental module, use only in simulations

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml

@@ -3,7 +3,7 @@
     option:
       enable_skip_optimization: false                              # skip elastic band and model predictive trajectory
       enable_reset_prev_optimization: false                        # If true, optimization has no fix constraint to the previous result.
-      enable_outside_drivable_area_stop: true                      # stop if the ego's trajectory footprint is outside the drivable area
+      enable_outside_drivable_area_stop: false                     # stop if the ego's trajectory footprint is outside the drivable area
       use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered.
 
       debug: