diff --git a/autoware_launch/config/planning/preset/xx1_preset.yaml b/autoware_launch/config/planning/preset/xx1_preset.yaml
index d6e4922911..6052860153 100644
--- a/autoware_launch/config/planning/preset/xx1_preset.yaml
+++ b/autoware_launch/config/planning/preset/xx1_preset.yaml
@@ -80,6 +80,9 @@ launch:
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "true"
 
   # motion planning modules
   - arg: