feat(behavior_velocity_planner): enable enable_rtc (autowarefoundation#757)

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

Author: shmpwk

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -5,7 +5,7 @@
         show_processing_time: false # [-] whether to show processing time
         # param for input data
         traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
-        enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+        enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
 
       # param for stop position
       stop_position:

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml

@@ -85,8 +85,8 @@
         ttc: [0]
 
       enable_rtc:
-        intersection: false
-        intersection_to_occlusion: false
+        intersection: true
+        intersection_to_occlusion: true
 
     merge_from_private:
       stopline_margin: 3.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml

@@ -6,4 +6,4 @@
       stop_time_hysteresis: 0.1
       yellow_lamp_period: 2.75
       enable_pass_judge: true
-      enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
+      enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval