diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
deleted file mode 100644
index 4b943ece9b2a3..0000000000000
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ /dev/null
@@ -1,303 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- Interface parameters -->
-  <arg name="output/objects" default="objects"/>
-
-  <!-- LiDAR parameters -->
-  <arg name="input/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="lidar_detection_score_threshold" default="0.35"/>
-
-  <!-- Lidar + Camera detector parameters -->
-  <arg name="use_roi_based_cluster" default="false"/>
-
-  <!-- LiDAR detector centerpoint parameters -->
-  <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
-  <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
-  <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
-
-  <!-- Camera parameters -->
-  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
-  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
-  <arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
-  <arg name="image_raw1" default="/image_raw1"/>
-  <arg name="camera_info1" default="/camera_info1"/>
-  <arg name="detection_rois1" default="/perception/object_recognition/detection/rois1"/>
-  <arg name="image_raw2" default="/image_raw2"/>
-  <arg name="camera_info2" default="/camera_info2"/>
-  <arg name="detection_rois2" default="/perception/object_recognition/detection/rois2"/>
-  <arg name="image_raw3" default="/image_raw3"/>
-  <arg name="camera_info3" default="/camera_info3"/>
-  <arg name="detection_rois3" default="/perception/object_recognition/detection/rois3"/>
-  <arg name="image_raw4" default="/image_raw4"/>
-  <arg name="camera_info4" default="/camera_info4"/>
-  <arg name="detection_rois4" default="/perception/object_recognition/detection/rois4"/>
-  <arg name="image_raw5" default="/image_raw5"/>
-  <arg name="camera_info5" default="/camera_info5"/>
-  <arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
-  <arg name="image_raw6" default="/image_raw6"/>
-  <arg name="camera_info6" default="/camera_info6"/>
-  <arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
-  <arg name="image_raw7" default="/image_raw7"/>
-  <arg name="camera_info7" default="/camera_info7"/>
-  <arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
-  <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
-
-  <!-- Radar parameters -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
-  <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
-
-  <!-- Radar detection -->
-  <group>
-    <push-ros-namespace namespace="radar"/>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="output/objects" value="far_objects"/>
-      <arg name="filter/angle_threshold" value="1.0472"/>
-      <arg name="filter/velocity_threshold" value="3.0"/>
-      <arg name="split/velocity_threshold" value="4.5"/>
-      <arg name="split_range" value="70.0"/>
-      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
-      <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
-    </include>
-  </group>
-
-  <!-- Jetson AGX -->
-  <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
-    <arg name="image_raw0" value="$(var image_raw0)"/>
-    <arg name="image_raw1" value="$(var image_raw1)"/>
-    <arg name="image_raw2" value="$(var image_raw2)"/>
-    <arg name="image_raw3" value="$(var image_raw3)"/>
-    <arg name="image_raw4" value="$(var image_raw4)"/>
-    <arg name="image_raw5" value="$(var image_raw5)"/>
-    <arg name="image_raw6" value="$(var image_raw6)"/>
-    <arg name="image_raw7" value="$(var image_raw7)"/>
-    <arg name="image_number" value="$(var image_number)"/>
-  </include> -->
-
-  <!-- Pointcloud filter -->
-  <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
-      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
-      <arg name="use_intra_process" value="true"/>
-      <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    </include>
-  </group>
-
-  <!-- Clustering -->
-  <group>
-    <push-ros-namespace namespace="clustering"/>
-    <group>
-      <let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
-      <let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
-      <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-        <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
-        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      </include>
-    </group>
-
-    <!-- roi based clustering -->
-    <group>
-      <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
-        <arg name="input/camera_info0" value="$(var camera_info0)"/>
-        <arg name="input/rois0" value="$(var detection_rois0)"/>
-        <arg name="input/camera_info1" value="$(var camera_info1)"/>
-        <arg name="input/rois1" value="$(var detection_rois1)"/>
-        <arg name="input/camera_info2" value="$(var camera_info2)"/>
-        <arg name="input/rois2" value="$(var detection_rois2)"/>
-        <arg name="input/camera_info3" value="$(var camera_info3)"/>
-        <arg name="input/rois3" value="$(var detection_rois3)"/>
-        <arg name="input/camera_info4" value="$(var camera_info4)"/>
-        <arg name="input/rois4" value="$(var detection_rois4)"/>
-        <arg name="input/camera_info5" value="$(var camera_info5)"/>
-        <arg name="input/rois5" value="$(var detection_rois5)"/>
-        <arg name="input/camera_info6" value="$(var camera_info6)"/>
-        <arg name="input/rois6" value="$(var detection_rois6)"/>
-        <arg name="input/camera_info7" value="$(var camera_info7)"/>
-        <arg name="input/rois7" value="$(var detection_rois7)"/>
-        <arg name="input/rois_number" value="$(var image_number)"/>
-        <arg name="input/image0" value="$(var image_raw0)"/>
-        <arg name="input/image1" value="$(var image_raw1)"/>
-        <arg name="input/image2" value="$(var image_raw2)"/>
-        <arg name="input/image3" value="$(var image_raw3)"/>
-        <arg name="input/image4" value="$(var image_raw4)"/>
-        <arg name="input/image5" value="$(var image_raw5)"/>
-        <arg name="input/image6" value="$(var image_raw6)"/>
-        <arg name="input/image7" value="$(var image_raw7)"/>
-        <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-        <arg name="output_clusters" value="roi_cluster/clusters"/>
-        <arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
-      </include>
-    </group>
-
-    <!-- simple_cluster_merger -->
-    <group>
-      <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
-        <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
-        <arg name="input/cluster1" value="roi_cluster/clusters"/>
-        <arg name="output/clusters" value="clusters"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-      </include>
-    </group>
-
-    <group>
-      <let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
-      <push-ros-namespace namespace="camera_lidar_fusion"/>
-      <!-- Fusion camera-lidar to classify -->
-
-      <!-- euclidean clustering -->
-      <group>
-        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
-          <arg name="input/camera_info0" value="$(var camera_info0)"/>
-          <arg name="input/rois0" value="$(var detection_rois0)"/>
-          <arg name="input/camera_info1" value="$(var camera_info1)"/>
-          <arg name="input/rois1" value="$(var detection_rois1)"/>
-          <arg name="input/camera_info2" value="$(var camera_info2)"/>
-          <arg name="input/rois2" value="$(var detection_rois2)"/>
-          <arg name="input/camera_info3" value="$(var camera_info3)"/>
-          <arg name="input/rois3" value="$(var detection_rois3)"/>
-          <arg name="input/camera_info4" value="$(var camera_info4)"/>
-          <arg name="input/rois4" value="$(var detection_rois4)"/>
-          <arg name="input/camera_info5" value="$(var camera_info5)"/>
-          <arg name="input/rois5" value="$(var detection_rois5)"/>
-          <arg name="input/camera_info6" value="$(var camera_info6)"/>
-          <arg name="input/rois6" value="$(var detection_rois6)"/>
-          <arg name="input/camera_info7" value="$(var camera_info7)"/>
-          <arg name="input/rois7" value="$(var detection_rois7)"/>
-          <arg name="input/rois_number" value="$(var image_number)"/>
-          <arg name="input/clusters" value="$(var input/clustering)"/>
-          <arg name="input/image0" value="$(var image_raw0)"/>
-          <arg name="input/image1" value="$(var image_raw1)"/>
-          <arg name="input/image2" value="$(var image_raw2)"/>
-          <arg name="input/image3" value="$(var image_raw3)"/>
-          <arg name="input/image4" value="$(var image_raw4)"/>
-          <arg name="input/image5" value="$(var image_raw5)"/>
-          <arg name="input/image6" value="$(var image_raw6)"/>
-          <arg name="input/image7" value="$(var image_raw7)"/>
-          <arg name="output/clusters" value="clusters"/>
-          <arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
-        </include>
-      </group>
-
-      <group>
-        <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-          <arg name="input/objects" value="clusters"/>
-          <arg name="output/objects" value="objects_with_feature"/>
-        </include>
-      </group>
-      <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-      <group>
-        <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-          <arg name="input" value="objects_with_feature"/>
-          <arg name="output" value="objects"/>
-        </include>
-      </group>
-    </group>
-  </group>
-
-  <!-- DetectionByTracker -->
-  <group if="$(var use_detection_by_tracker)">
-    <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
-      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-    </include>
-  </group>
-
-  <!-- CenterPoint -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
-    <push-ros-namespace namespace="centerpoint"/>
-    <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="objects"/>
-        <arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
-        <arg name="model_name" value="$(var centerpoint_model_name)"/>
-        <arg name="model_path" value="$(var centerpoint_model_path)"/>
-        <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
-        <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- Lidar Apollo Instance Segmentation -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
-    <push-ros-namespace namespace="apollo"/>
-    <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="labeled_clusters"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="labeled_clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_vehicle_reference_yaw" value="true"/>
-        <arg name="use_vehicle_reference_shape_size" value="false"/>
-      </include>
-    </group>
-
-    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-    <group>
-      <include file="$(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"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- PointPainting -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
-    <push-ros-namespace namespace="pointpainting"/>
-    <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var camera_info0)"/>
-      <arg name="input/rois0" value="$(var detection_rois0)"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="$(var detection_rois1)"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="$(var detection_rois2)"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="$(var detection_rois3)"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="$(var detection_rois4)"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="$(var detection_rois5)"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="$(var detection_rois6)"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="$(var detection_rois7)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="objects"/>
-      <arg name="model_name" value="$(var lidar_detection_model)"/>
-      <arg name="model_path" value="$(var pointpainting_model_path)"/>
-      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
-      <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
-    </include>
-  </group>
-</launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index fe2da53120070..8abe5ff054a2f 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -36,8 +36,8 @@
 
   <!-- Camera-Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
-    <!-- Detectior -->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
+    <!-- Camera-Lidar detectiors -->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
@@ -63,12 +63,21 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
-      <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
-      <arg name="roi_cluster_fusion_param_path" value="$(var roi_cluster_fusion_param_path)"/>
-      <arg name="roi_pointcloud_fusion_param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
-      <arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
+    <!-- Radar detector-->
+    <group>
+      <push-ros-namespace namespace="radar"/>
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+        <arg name="input/radar" value="$(var input/radar)"/>
+        <arg name="output/objects" value="far_objects"/>
+        <arg name="filter/angle_threshold" value="1.0472"/>
+        <arg name="filter/velocity_threshold" value="3.0"/>
+        <arg name="split/velocity_threshold" value="4.5"/>
+        <arg name="split_range" value="70.0"/>
+        <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+        <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
+      </include>
+    </group>
     <!-- Object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
       <arg name="image_raw0" value="$(var image_raw0)"/>
@@ -97,7 +106,7 @@
 
   <!-- Camera-Lidar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
-    <!-- Detectior -->
+    <!-- Camera-Lidar detectiors -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
@@ -152,18 +161,28 @@
 
   <!-- Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
-    <!-- Detectior -->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml">
-      <arg name="input/pointcloud" value="$(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="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
-      <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
-    </include>
+    <!-- Radar detector-->
+    <group>
+      <push-ros-namespace namespace="radar"/>
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+        <arg name="input/radar" value="$(var input/radar)"/>
+        <arg name="output/objects" value="far_objects"/>
+        <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+        <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
+      </include>
+    </group>
+    <!-- LiDAR detectors-->
+    <group>
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <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_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      </include>
+    </group>
     <!-- Lidar object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
       <arg name="output/objects" value="lidar/objects"/>
@@ -181,7 +200,7 @@
 
   <!-- Lidar based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
-    <!-- Detectior -->
+    <!-- LiDAR detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
@@ -191,7 +210,7 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
-    <!-- Object merger -->
+    <!-- Lidar object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
@@ -200,9 +219,9 @@
   </group>
 
   <!-- Radar based detection -->
-  <!-- Detectior -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
+    <!-- Radar detector-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
similarity index 100%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
rename to launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml