feat: disable lane departure checker (#317)

* feat(obstacle_avoidance_planner): change optimization_center_offset

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>

* feat(system_error_monitor): do not monitor lane_departure_checker

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>

* feat: add comment

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>

---------

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>

Author: 1222-takeshi

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml

@@ -47,11 +47,11 @@
         num_points: 100        # number of points for optimization [-]
         delta_arc_length: 1.0  # delta arc length for optimization [m]
 
-      # kinematics:
+      kinematics:
         # If this parameter is commented out, the parameter is set as below by default.
         # The logic could be `optimization_center_offset = vehicle_info.wheelbase * 0.8`
         # The 0.8 scale is adopted as it performed the best.
-        # optimization_center_offset: 2.3 # optimization center offset from base link
+        optimization_center_offset: 0.0 # optimization center offset from base link
 
       clearance:  # clearance(distance) between vehicle and roads/objects when generating trajectory
         # if collision_free_constraints.option.hard_constraint is true

autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml

@@ -18,7 +18,7 @@
     required_modules:
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
-        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
+        # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # temporarily until logic is improved
         /autoware/control/control_command_gate/node_alive_monitoring: default
 
         /autoware/localization/node_alive_monitoring: default