Try fixing launch file for onboard testing

Author: htliang517

launch/racing_fixed_slalom_withCone.yaml

@@ -27,6 +27,16 @@ drive:
         perception_normalization : StandardPerceptionNormalizer
 
     planning:
+        relations_estimation: 
+            type: pedestrian_yield_logic.PedestrianYielder
+            args:
+                mode: 'real'
+                params: {
+                    'yielder':       'expert', # 'expert', 'analytic', or 'simulation'
+                    'planner':       'milestone', # 'milestone', 'dt', or 'dx'
+                    'desired_speed': 1.0,  # m/s, 1.5 m/s seems max speed? Feb24
+                    'acceleration':  0.75  # m/s2, 0.5 is not enough to start moving. Feb24
+                    }
         route_planning:
             type: StaticRoutePlanner
             args: [!relative_path '../GEMstack/knowledge/routes/turn_right2.csv']
@@ -52,7 +62,7 @@ log:
     # If True, then record all readings / commands of the vehicle interface. Default False
     vehicle_interface : True
     # Specify which components to record to behavior.json. Default records nothing
-    components : ['state_estimation','trajectory_tracking']
+    components : ['state_estimation','trajectory_tracking','obstacle_detection']
     # Specify which components of state to record to state.json. Default records nothing 
     #state: ['all']
     # Specify the rate in Hz at which to record state to state.json. Default records at the pipeline's rate