diff --git a/planning/obstacle_velocity_limiter/README.md b/planning/obstacle_velocity_limiter/README.md
index 5f833135e1ae4..6ca33b4913b12 100644
--- a/planning/obstacle_velocity_limiter/README.md
+++ b/planning/obstacle_velocity_limiter/README.md
@@ -152,11 +152,11 @@ For example a value of `1` means all trajectory points will be evaluated while a
 
 ### Outputs
 
-| Name                     | Type                                     | Description                                              |
-| ------------------------ | ---------------------------------------- | -------------------------------------------------------- |
-| `~/output/trajectory`    | `autoware_auto_planning_msgs/Trajectory` | Trajectory with adjusted velocities                      |
-| `~/output/debug_markers` | `visualization_msgs/MarkerArray`         | Debug markers (envelopes, obstacle polygons)             |
-| `~/output/runtime_us`    | `std_msgs/Int64`                         | Time taken to calculate the trajectory (in microseconds) |
+| Name                            | Type                                     | Description                                              |
+| ------------------------------- | ---------------------------------------- | -------------------------------------------------------- |
+| `~/output/trajectory`           | `autoware_auto_planning_msgs/Trajectory` | Trajectory with adjusted velocities                      |
+| `~/output/debug_markers`        | `visualization_msgs/MarkerArray`         | Debug markers (envelopes, obstacle polygons)             |
+| `~/output/runtime_microseconds` | `std_msgs/Int64`                         | Time taken to calculate the trajectory (in microseconds) |
 
 ## Parameters
 
diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp
index 47560a771af7d..584d6eb42e712 100644
--- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp
+++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp
@@ -90,6 +90,7 @@ class ObstacleVelocityLimiterNode : public rclcpp::Node
 
   /// @brief callback for parameter updates
   /// @param[in] parameters updated parameters and their new values
+  /// @return result of parameter update
   rcl_interfaces::msg::SetParametersResult onParameter(
     const std::vector<rclcpp::Parameter> & parameters);
 
diff --git a/planning/obstacle_velocity_limiter/launch/obstacle_velocity_limiter.launch.xml b/planning/obstacle_velocity_limiter/launch/obstacle_velocity_limiter.launch.xml
index 4c00bfebe3210..b3cd39eb709db 100644
--- a/planning/obstacle_velocity_limiter/launch/obstacle_velocity_limiter.launch.xml
+++ b/planning/obstacle_velocity_limiter/launch/obstacle_velocity_limiter.launch.xml
@@ -6,28 +6,19 @@
   <arg name="input_obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="input_odometry" default="/localization/kinematic_state"/>
   <arg name="input_map" default="/map/vector_map"/>
-  <arg name="output_trajectory" default="/planning/scenario_planning/obstacle_velocity_limiter/trajectory"/>
-  <arg name="output_debug_markers" default="/planning/scenario_planning/obstacle_velocity_limiter/debug_markers"/>
+  <arg name="output_trajectory" default="~/output/trajectory"/>
+  <arg name="output_debug_markers" default="~/output/debug_markers"/>
   <arg name="use_sim_time" default="false"/>
 
   <arg name="param_path" default="$(find-pkg-share obstacle_velocity_limiter)/config/default_obstacle_velocity_limiter.param.yaml"/>
   <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
 
-  <let name="gdb-launch-prefix" value="konsole -e gdb -ex run --args"/>
-  <node pkg="pointcloud_preprocessor" exec="approximate_downsample_filter_node" name="approximate_downsample_filter">
-    <remap from="input" to="$(var input_obstacle_pointcloud)"/>
-    <remap from="output" to="$(var input_obstacle_pointcloud)/downsampled"/>
-
-    <param name="input_frame" value="base_link"/>
-    <param name="output_frame" value="map"/>
-    <param name="use_sim_time" value="$(var use_sim_time)"/>
-  </node>
-  <node pkg="obstacle_velocity_limiter" exec="obstacle_velocity_limiter" name="obstacle_velocity_limiter" output="screen" launch-prefix="$(var gdb-launch-prefix)">
+  <node pkg="obstacle_velocity_limiter" exec="obstacle_velocity_limiter" name="obstacle_velocity_limiter" output="screen">
     <param from="$(var param_path)"/>
     <param name="use_sim_time" value="$(var use_sim_time)"/>
     <param from="$(var vehicle_info_param_file)"/>
     <remap from="~/input/occupancy_grid" to="$(var input_occupancy_grid)"/>
-    <remap from="~/input/obstacle_pointcloud" to="$(var input_obstacle_pointcloud)/downsampled"/>
+    <remap from="~/input/obstacle_pointcloud" to="$(var input_obstacle_pointcloud)"/>
     <remap from="~/input/trajectory" to="$(var input_trajectory)"/>
     <remap from="~/input/dynamic_obstacles" to="$(var input_dynamic_obstacles)"/>
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
diff --git a/planning/obstacle_velocity_limiter/src/forward_projection.cpp b/planning/obstacle_velocity_limiter/src/forward_projection.cpp
index 2718ab6de6dd9..ecd633e6ba6de 100644
--- a/planning/obstacle_velocity_limiter/src/forward_projection.cpp
+++ b/planning/obstacle_velocity_limiter/src/forward_projection.cpp
@@ -63,7 +63,6 @@ linestring_t bicycleProjectionLine(
   const geometry_msgs::msg::Point & origin, const ProjectionParameters & params,
   const double steering_angle)
 {
-  // TODO(Maxime CLEMENT): use Eigen for faster calculation
   linestring_t line;
   line.reserve(params.points_per_projection);
   line.emplace_back(origin.x, origin.y);