diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
index 3fba4bd773e68..16af6256af593 100644
--- a/launch/tier4_localization_launch/launch/localization.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -4,6 +4,7 @@
   <arg name="pose_source"/>
   <arg name="twist_source"/>
   <arg name="system_run_mode"/>
+  <arg name="gnss_enabled"/>
 
   <arg name="crop_box_filter_measurement_range_param_path"/>
   <arg name="voxel_grid_downsample_filter_param_path"/>
diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
index 7733b4e3117a1..b44c97f1e574f 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
@@ -2,6 +2,7 @@
 <launch>
   <let name="stop_check_enabled" if="$(eval &quot;'$(var system_run_mode)'=='online'&quot;)" value="true"/>
   <let name="stop_check_enabled" if="$(eval &quot;'$(var system_run_mode)'=='logging_simulation'&quot;)" value="false"/>
+  <arg name="gnss_enabled"/>
 
   <!-- NDT Scan Matcher Launch (as pose estimator) -->
   <group if="$(eval &quot;'$(var pose_source)'=='ndt'&quot;)">
@@ -13,7 +14,7 @@
       <push-ros-namespace namespace="util"/>
       <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
         <arg name="ndt_enabled" value="true"/>
-        <arg name="gnss_enabled" value="true"/>
+        <arg name="gnss_enabled" value="$(var gnss_enabled)"/>
         <arg name="ekf_enabled" value="true"/>
         <arg name="yabloc_enabled" value="false"/>
         <arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
@@ -37,7 +38,7 @@
       <push-ros-namespace namespace="util"/>
       <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
         <arg name="ndt_enabled" value="false"/>
-        <arg name="gnss_enabled" value="true"/>
+        <arg name="gnss_enabled" value="$(var gnss_enabled)"/>
         <arg name="ekf_enabled" value="true"/>
         <arg name="yabloc_enabled" value="true"/>
         <arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
@@ -71,7 +72,7 @@
       <push-ros-namespace namespace="util"/>
       <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
         <arg name="ndt_enabled" value="false"/>
-        <arg name="gnss_enabled" value="true"/>
+        <arg name="gnss_enabled" value="$(var gnss_enabled)"/>
         <arg name="ekf_enabled" value="true"/>
         <arg name="yabloc_enabled" value="false"/>
         <arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
@@ -98,7 +99,7 @@
       <push-ros-namespace namespace="util"/>
       <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
         <arg name="ndt_enabled" value="false"/>
-        <arg name="gnss_enabled" value="true"/>
+        <arg name="gnss_enabled" value="$(var gnss_enabled)"/>
         <arg name="ekf_enabled" value="true"/>
         <arg name="yabloc_enabled" value="false"/>
         <arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
@@ -133,15 +134,13 @@
       <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
         <arg name="ndt_enabled" value="false"/>
         <arg name="gnss_enabled" value="false"/>
+        <!-- artag currently only works when gnss_enabled is false -->
         <arg name="ekf_enabled" value="true"/>
         <arg name="yabloc_enabled" value="false"/>
         <arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
         <arg name="config_file" value="$(var pose_initializer_param_path)"/>
         <arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
       </include>
-      <group if="$(var gnss_enabled)">
-        <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
-      </group>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
     </group>
   </group>