diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py
index a97ef50049b5e..3aafd3d1bb784 100644
--- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py
+++ b/autoware_api_launch/launch/include/external_api_adaptor.launch.py
@@ -37,6 +37,7 @@ def generate_launch_description():
         _create_api_node("engage", "Engage"),
         _create_api_node("fail_safe_state", "FailSafeState"),
         _create_api_node("initial_pose", "InitialPose"),
+        _create_api_node("localization_score", "LocalizationScore"),
         _create_api_node("map", "Map"),
         _create_api_node("operator", "Operator"),
         _create_api_node("metadata_packages", "MetadataPackages"),
diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 052449d050bc4..bc9977d83e81b 100644
--- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -23,7 +23,7 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default=""/>
+  <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
 
   <!-- Jetson AGX -->
@@ -47,7 +47,7 @@
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -64,11 +64,13 @@
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
       <arg name="input/objects" value="clusters"/>
       <arg name="output/objects" value="objects_with_feature"/>
+      <arg name="node_name" value="shape_estimation_clustering"/>
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
       <arg name="input" value="objects_with_feature"/>
       <arg name="output" value="objects"/>
+      <arg name="node_name" value="detected_object_feature_remover_clustering"/>
     </include>
     <!-- Fusion camera-lidar to classify -->
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
@@ -103,11 +105,13 @@
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
       <arg name="input/objects" value="camera_lidar_fusion/clusters"/>
       <arg name="output/objects" value="camera_lidar_fusion/objects_with_feature"/>
+      <arg name="node_name" value="shape_estimation_camera_lidar_fusion"/>
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
       <arg name="input" value="camera_lidar_fusion/objects_with_feature"/>
       <arg name="output" value="camera_lidar_fusion/objects"/>
+      <arg name="node_name" value="detected_object_feature_camera_lidar_fusion"/>
     </include>
     <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
       <arg name="input/object" value="camera_lidar_fusion/objects"/>
@@ -169,16 +173,19 @@
     <arg name="input/object0" value="$(var merger/input/objects)"/>
     <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
     <arg name="output/object" value="camera_lidar_fusion/objects"/>
+    <arg name="node_name" value="object_association_merger_camera_lidar_fusion"/>
   </include>
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="detection_by_tracker/objects"/>
     <arg name="input/object1" value="camera_lidar_fusion/objects"/>
     <arg name="output/object" value="temporary_merged_objects"/>
+    <arg name="node_name" value="object_association_merger_detection_by_tracker"/>
   </include>
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="temporary_merged_objects"/>
     <arg name="input/object1" value="clustering/objects"/>
     <arg name="output/object" value="objects_before_filter"/>
+    <arg name="node_name" value="object_association_merger_unknown_clustering"/>
   </include>
 
   <!-- Filter -->
diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index d2a59a4a4569b..802694e2eddca 100644
--- a/perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -1,9 +1,11 @@
 <?xml version="1.0"?>
 <launch>
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <arg name="container_name" default="pointcloud_container"/>
 
   <!-- camera param -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -48,6 +50,8 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -55,14 +59,14 @@
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="front_center/objects" />
+      <arg name="output/objects" value="front_center/objects"/>
     </include>
   </group>
 
   <!-- camera lidar radar fusion-->
   <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="camera_lidar_fusion/objects" />
-    <arg name="input/radars" value="radar/objects" />
-    <arg name="output/objects" value="objects" />
+    <arg name="input/objects" value="camera_lidar_fusion/objects"/>
+    <arg name="input/radars" value="radar/objects"/>
+    <arg name="output/objects" value="objects"/>
   </include>
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
index e30297a495630..1196988f07df7 100644
--- a/perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -1,12 +1,13 @@
 <?xml version="1.0"?>
-
 <launch>
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
 
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <arg name="container_name" default="pointcloud_container"/>
 
   <!-- camera param -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -52,6 +53,8 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -78,6 +81,8 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -87,6 +92,8 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -96,13 +103,15 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
   <!-- radar based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="objects" />
+      <arg name="output/objects" value="objects"/>
     </include>
   </group>
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index aee2084c79269..9fa255e8230c3 100644
--- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -6,10 +6,9 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default=""/>
+  <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
 
-
   <!-- Pointcloud map filter -->
   <group>
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
@@ -18,7 +17,7 @@
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -97,11 +96,13 @@
       <arg name="input/object0" value="$(var merger/input/objects)"/>
       <arg name="input/object1" value="clustering/objects"/>
       <arg name="output/object" value="temporary_merged_objects"/>
+      <arg name="node_name" value="object_association_merger_unknown_clustering"/>
     </include>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="temporary_merged_objects"/>
       <arg name="input/object1" value="detection_by_tracker/objects"/>
       <arg name="output/object" value="objects_before_filter"/>
+      <arg name="node_name" value="object_association_merger_detection_by_tracker"/>
     </include>
   </group>
 
@@ -113,5 +114,4 @@
       <arg name="filtering_range_param" value="$(find-pkg-share perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml" />
     </include>
   </group>
-
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
index a0eef1825bf64..db1fc26863057 100644
--- a/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -1,9 +1,11 @@
 <?xml version="1.0"?>
 <launch>
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <arg name="container_name" default="pointcloud_container"/>
 
   <!-- lidar based detection-->
   <group>
@@ -12,6 +14,8 @@
       <arg name="output/objects" value="lidar/objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -19,14 +23,14 @@
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="objects" />
+      <arg name="output/objects" value="objects"/>
     </include>
   </group>
 
   <!-- lidar radar fusion-->
   <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="lidar/objects" />
-    <arg name="input/radars" value="radar/objects" />
-    <arg name="output/objects" value="objects" />
+    <arg name="input/objects" value="lidar/objects"/>
+    <arg name="input/radars" value="radar/objects"/>
+    <arg name="output/objects" value="objects"/>
   </include>
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
index 6fb6184d6ae3f..21de187f126e5 100644
--- a/perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
@@ -3,10 +3,10 @@
   <arg name="output/objects" default="objects"/>
 
   <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-    <arg name="input/radar_objects" value="/sensing/radar/front_center/objects_raw" />
-    <arg name="input/odometry" value="/localization/kinematic_state" />
-    <arg name="output/radar_objects" value="$(var output/objects)" />
-    <arg name="update_rate_hz" value="20.0" />
-    <arg name="use_twist_compensation" value="true" />
+    <arg name="input/radar_objects" value="/sensing/radar/front_center/objects_raw"/>
+    <arg name="input/odometry" value="/localization/kinematic_state"/>
+    <arg name="output/radar_objects" value="$(var output/objects)"/>
+    <arg name="update_rate_hz" value="20.0"/>
+    <arg name="use_twist_compensation" value="true"/>
   </include>
 </launch>
diff --git a/perception_launch/launch/object_recognition/prediction/prediction.launch.xml b/perception_launch/launch/object_recognition/prediction/prediction.launch.xml
index bd322ff67954e..fd9d1ba6f3cda 100644
--- a/perception_launch/launch/object_recognition/prediction/prediction.launch.xml
+++ b/perception_launch/launch/object_recognition/prediction/prediction.launch.xml
@@ -1,5 +1,4 @@
 <?xml version="1.0"?>
-
 <launch>
   <arg name="use_vector_map" default="false" description="use vector map in prediction"/>
 
@@ -10,7 +9,6 @@
     </include>
   </group>
   <group unless="$(var use_vector_map)">
-    <include file="$(find-pkg-share naive_path_prediction)/launch/naive_path_prediction.launch.xml">
-    </include>
+    <!-- Not support without vector map -->
   </group>
 </launch>
diff --git a/perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
index 64bcad42fa31a..aa4aec15373f3 100644
--- a/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
-
 <launch>
   <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
-    <arg name="data_association_matrix_path" value="$(find-pkg-share perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" />
+    <arg name="data_association_matrix_path" value="$(find-pkg-share perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"/>
   </include>
 </launch>
diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
index 15411ff695930..5edc773478896 100644
--- a/perception_launch/launch/perception.launch.xml
+++ b/perception_launch/launch/perception.launch.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
-
 <launch>
   <!-- common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
+  <arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
@@ -24,7 +24,11 @@
   <arg name="image_number" default="6" description="choose image raw number(0-7)"/>
   <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_empty_dynamic_object_publisher" default="false" description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"/>
+  <arg
+    name="use_empty_dynamic_object_publisher"
+    default="false"
+    description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
+  />
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
@@ -36,10 +40,11 @@
     <group>
       <push-ros-namespace namespace="obstacle_segmentation"/>
       <include file="$(find-pkg-share perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
-        <arg name="base_frame" value="base_link" />
-        <arg name="use_intra_process" value="true" />
-        <arg name="use_multithread" value="true" />
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+        <arg name="base_frame" value="base_link"/>
+        <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+        <arg name="use_intra_process" value="true"/>
+        <arg name="use_multithread" value="true"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       </include>
@@ -49,12 +54,12 @@
     <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>
       <include file="$(find-pkg-share perception_launch)/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py">
-        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw" />
-        <arg name="input/raw_pointcloud" value="$(var input/pointcloud)" />
-        <arg name="output" value="/perception/occupancy_grid_map/map" />
-        <arg name="use_intra_process" value="true" />
-        <arg name="use_multithread" value="true" />
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
+        <arg name="input/raw_pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="output" value="/perception/occupancy_grid_map/map"/>
+        <arg name="use_intra_process" value="true"/>
+        <arg name="use_multithread" value="true"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
@@ -87,13 +92,14 @@
           <arg name="camera_info7" value="$(var camera_info7)"/>
           <arg name="image_number" value="$(var image_number)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+          <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+          <arg name="container_name" value="$(var pointcloud_container_name)"/>
         </include>
       </group>
       <!-- tracking module -->
       <group>
         <push-ros-namespace namespace="tracking"/>
-        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
-        </include>
+        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/tracking/tracking.launch.xml"/>
       </group>
       <!-- prediction module -->
       <group>
@@ -107,15 +113,14 @@
     <group if="$(var use_empty_dynamic_object_publisher)">
       <push-ros-namespace namespace="object_recognition"/>
       <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
-        <remap from="~/output/objects" to="/perception/object_recognition/objects" />
+        <remap from="~/output/objects" to="/perception/object_recognition/objects"/>
       </node>
     </group>
 
     <!-- traffic light module -->
     <!-- <group>
       <push-ros-namespace namespace="traffic_light_recognition"/>
-      <include file="$(find-pkg-share perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">
-      </include>
+      <include file="$(find-pkg-share perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"/>
     </group> -->
   </group>
 </launch>
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index 4ea3229d46e56..2cc5260e4ea9b 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -10,7 +10,7 @@
       stop_position_threshold: 1.0 # [m] threshold for check whether the vehicle stop in front of crosswalk
 
       # param for ego velocity
-      slow_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
+      min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
       max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake
       max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
       no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)
diff --git a/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml b/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml
index a3b20c4c94d31..b20ffec096e03 100644
--- a/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml
+++ b/system_launch/config/ad_service_state_monitor.planning_simulation.param.yaml
@@ -23,7 +23,6 @@
     topic_configs:
       names: [
         "/map/vector_map",
-        "/map/pointcloud_map",
         "/perception/object_recognition/objects",
         "/initialpose2d",
         "/planning/mission_planning/route",
@@ -43,13 +42,6 @@
           type: "autoware_auto_mapping_msgs/msg/HADMapBin"
           transient_local: True
 
-        /map/pointcloud_map:
-          module: "map"
-          timeout: 0.0
-          warn_rate: 0.0
-          type: "sensor_msgs/msg/PointCloud2"
-          transient_local: True
-
         /perception/object_recognition/objects:
           module: "perception"
           timeout: 1.0
diff --git a/system_launch/config/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor.planning_simulation.param.yaml
new file mode 100644
index 0000000000000..ce081b75b2836
--- /dev/null
+++ b/system_launch/config/system_error_monitor.planning_simulation.param.yaml
@@ -0,0 +1,50 @@
+# Description:
+#   name: diag name
+#   sf_at: diag level where it becomes Safe Fault
+#   lf_at: diag level where it becomes Latent Fault
+#   spf_at: diag level where it becomes Single Point Fault
+#   auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
+#
+# Note:
+# empty-value for sf_at, lf_at and spf_at is "none"
+# default values are:
+#   sf_at: "none"
+#   lf_at: "warn"
+#   spf_at: "error"
+#   auto_recovery: "true"
+---
+/**:
+  ros__parameters:
+    required_modules:
+      autonomous_driving:
+        /autoware/control/autonomous_driving/node_alive_monitoring: default
+        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
+        /autoware/control/control_command_gate/node_alive_monitoring: default
+
+        /autoware/localization/node_alive_monitoring: default
+        # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        # /autoware/localization/performance_monitoring/localization_accuracy: default
+
+        /autoware/map/node_alive_monitoring: default
+
+        /autoware/perception/node_alive_monitoring: default
+
+        /autoware/planning/node_alive_monitoring: default
+        /autoware/planning/performance_monitoring/trajectory_validation: default
+
+        /autoware/sensing/node_alive_monitoring: default
+
+        /autoware/system/node_alive_monitoring: default
+        /autoware/system/emergency_stop_operation: default
+        # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
+
+        /autoware/vehicle/node_alive_monitoring: default
+
+      external_control:
+        /autoware/control/control_command_gate/node_alive_monitoring: default
+        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
+
+        /autoware/system/node_alive_monitoring: default
+        /autoware/system/emergency_stop_operation: default
+
+        /autoware/vehicle/node_alive_monitoring: default
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
index 88aaca8527e64..6fff875192847 100644
--- a/system_launch/launch/system.launch.xml
+++ b/system_launch/launch/system.launch.xml
@@ -23,26 +23,32 @@
     </group>
 
     <!-- State Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
-    <include file="$(find-pkg-share ad_service_state_monitor)/launch/ad_service_state_monitor.launch.xml">
-      <arg name="config_file" value="$(var config_file)" />
-    </include>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/ad_service_state_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
+      <include file="$(find-pkg-share ad_service_state_monitor)/launch/ad_service_state_monitor.launch.xml">
+        <arg name="config_file" value="$(var config_file)" />
+      </include>
+    </group>
 
     <!-- Error Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
-    <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
-      <arg name="config_file" value="$(var config_file)" />
-      <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
-      <arg name="extra_agg_config_file_system" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/system.param.yaml" />
-      <arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
-      <arg name="use_emergency_hold" value="false" />
-    </include>
+    <group>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
+      <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
+        <arg name="config_file" value="$(var config_file)" />
+        <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
+        <arg name="extra_agg_config_file_system" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/system.param.yaml" />
+        <arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
+        <arg name="use_emergency_hold" value="false" />
+      </include>
+    </group>
 
     <!-- Emergency Handler -->
-    <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
-      <arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
-    </include>
+    <group>
+      <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
+        <arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
+      </include>
+    </group>
 
     <!-- Dummy Diag Publisher -->
     <group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">