diff --git a/common/autoware_ad_api_msgs/CMakeLists.txt b/common/autoware_ad_api_msgs/CMakeLists.txt
index 7192382a3054e..031134af5a5de 100644
--- a/common/autoware_ad_api_msgs/CMakeLists.txt
+++ b/common/autoware_ad_api_msgs/CMakeLists.txt
@@ -5,8 +5,6 @@ find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  localization/msg/LocalizationScoreArray.msg
-  localization/msg/LocalizationScore.msg
   common/msg/ResponseStatus.msg
   interface/srv/InterfaceVersion.srv
   DEPENDENCIES
diff --git a/common/autoware_ad_api_msgs/localization/msg/LocalizationScore.msg b/common/autoware_ad_api_msgs/localization/msg/LocalizationScore.msg
deleted file mode 100644
index bd570b47cbf18..0000000000000
--- a/common/autoware_ad_api_msgs/localization/msg/LocalizationScore.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-string name
-float32 value
diff --git a/common/autoware_ad_api_msgs/localization/msg/LocalizationScoreArray.msg b/common/autoware_ad_api_msgs/localization/msg/LocalizationScoreArray.msg
deleted file mode 100644
index a280d9a71d358..0000000000000
--- a/common/autoware_ad_api_msgs/localization/msg/LocalizationScoreArray.msg
+++ /dev/null
@@ -1 +0,0 @@
-autoware_ad_api_msgs/LocalizationScore[] values
diff --git a/system/default_ad_api/CMakeLists.txt b/system/default_ad_api/CMakeLists.txt
index 774e3de9e4d36..ae4125cc822ff 100644
--- a/system/default_ad_api/CMakeLists.txt
+++ b/system/default_ad_api/CMakeLists.txt
@@ -6,11 +6,9 @@ autoware_package()
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/interface.cpp
-  src/localization_score.cpp
 )
 
 rclcpp_components_register_nodes(${PROJECT_NAME} "default_ad_api::InterfaceNode")
-rclcpp_components_register_nodes(${PROJECT_NAME}  "default_ad_api::LocalizationScoreNode")
 
 if(BUILD_TESTING)
   add_launch_test(test/main.test.py)
diff --git a/system/default_ad_api/launch/default_ad_api.launch.py b/system/default_ad_api/launch/default_ad_api.launch.py
index 918c7a1c74a3f..e9542328ed986 100644
--- a/system/default_ad_api/launch/default_ad_api.launch.py
+++ b/system/default_ad_api/launch/default_ad_api.launch.py
@@ -31,7 +31,6 @@ def _create_api_node(node_name, class_name, **kwargs):
 def generate_launch_description():
     components = [
         _create_api_node("interface", "InterfaceNode"),
-        _create_api_node("localization_score", "LocalizationScoreNode"),
     ]
     container = ComposableNodeContainer(
         namespace="default_ad_api",
diff --git a/system/default_ad_api/package.xml b/system/default_ad_api/package.xml
index 7b9c15d52b711..0bb71303d5466 100644
--- a/system/default_ad_api/package.xml
+++ b/system/default_ad_api/package.xml
@@ -13,10 +13,8 @@
 
   <depend>autoware_ad_api_msgs</depend>
   <depend>component_interface_utils</depend>
-  <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <exec_depend>python3-flask</exec_depend>
 
diff --git a/system/default_ad_api/src/localization_score.cpp b/system/default_ad_api/src/localization_score.cpp
deleted file mode 100644
index 655d48990b799..0000000000000
--- a/system/default_ad_api/src/localization_score.cpp
+++ /dev/null
@@ -1,88 +0,0 @@
-// Copyright 2022 TIER IV, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "localization_score.hpp"
-
-namespace default_ad_api
-{
-
-LocalizationScoreNode::LocalizationScoreNode(const rclcpp::NodeOptions & options)
-: Node("localization_score", options), clock_(this->get_clock())
-{
-  using std::placeholders::_1;
-
-  status_pub_hz_ = this->declare_parameter("status_pub_hz", 10.0);
-
-  score_tp_.name = "transform_probability";
-  score_nvtl_.name = "nearest_voxel_transformation_likelihood";
-  is_tp_received_ = false;
-  is_nvtl_received_ = false;
-
-  // Publisher
-  pub_localization_scores_ =
-    this->create_publisher<LocalizationScoreArray>("api/get/localization_scores", 1);
-
-  // Subscriber
-  sub_transform_probability_ = this->create_subscription<Float32Stamped>(
-    "/localization/pose_estimator/transform_probability", 1,
-    std::bind(&LocalizationScoreNode::callbackTpScore, this, _1));
-  sub_nearest_voxel_transformation_likelihood_ = this->create_subscription<Float32Stamped>(
-    "/localization/pose_estimator/nearest_voxel_transformation_likelihood", 1,
-    std::bind(&LocalizationScoreNode::callbackNvtlScore, this, _1));
-
-  // Timer callback
-  auto timer_callback = std::bind(&LocalizationScoreNode::callbackTimer, this);
-  auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
-    std::chrono::duration<double>(1.0 / status_pub_hz_));
-  // timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-  //   this->get_clock(), period, std::move(timer_callback),
-  //   this->get_node_base_interface()->get_context());
-  // this->get_node_timers_interface()->add_timer(timer_, nullptr);
-  timer_ = rclcpp::create_timer(this, get_clock(), period, std::move(timer_callback));
-}
-
-void LocalizationScoreNode::callbackTpScore(const Float32Stamped::ConstSharedPtr msg_ptr)
-{
-  is_tp_received_ = true;
-  score_tp_.value = msg_ptr->data;
-}
-void LocalizationScoreNode::callbackNvtlScore(const Float32Stamped::ConstSharedPtr msg_ptr)
-{
-  is_nvtl_received_ = true;
-  score_nvtl_.value = msg_ptr->data;
-}
-
-void LocalizationScoreNode::callbackTimer()
-{
-  LocalizationScoreArray localizatoin_scores_msg;
-
-  if (is_tp_received_) {
-    localizatoin_scores_msg.values.emplace_back(score_tp_);
-    is_tp_received_ = false;
-  }
-
-  if (is_nvtl_received_) {
-    localizatoin_scores_msg.values.emplace_back(score_nvtl_);
-    is_nvtl_received_ = false;
-  }
-
-  if (!localizatoin_scores_msg.values.empty()) {
-    pub_localization_scores_->publish(localizatoin_scores_msg);
-  }
-}
-
-}  // namespace default_ad_api
-
-#include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::LocalizationScoreNode)
diff --git a/system/default_ad_api/src/localization_score.hpp b/system/default_ad_api/src/localization_score.hpp
deleted file mode 100644
index 0b839c9bf4546..0000000000000
--- a/system/default_ad_api/src/localization_score.hpp
+++ /dev/null
@@ -1,59 +0,0 @@
-// Copyright 2022 TIER IV, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef LOCALIZATION_SCORE_HPP_
-#define LOCALIZATION_SCORE_HPP_
-
-#include <rclcpp/rclcpp.hpp>
-
-#include "autoware_ad_api_msgs/msg/localization_score_array.hpp"
-#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
-
-#include <memory>
-#include <utility>
-
-namespace default_ad_api
-{
-using autoware_ad_api_msgs::msg::LocalizationScoreArray;
-using geometry_msgs::msg::PoseWithCovarianceStamped;
-using tier4_debug_msgs::msg::Float32Stamped;
-
-class LocalizationScoreNode : public rclcpp::Node
-{
-public:
-  explicit LocalizationScoreNode(const rclcpp::NodeOptions & options);
-
-private:
-  void callbackTpScore(const Float32Stamped::ConstSharedPtr msg_ptr);
-  void callbackNvtlScore(const Float32Stamped::ConstSharedPtr msg_ptr);
-  void callbackTimer();
-
-  rclcpp::Publisher<LocalizationScoreArray>::SharedPtr pub_localization_scores_;
-  rclcpp::Subscription<Float32Stamped>::SharedPtr sub_transform_probability_;
-  rclcpp::Subscription<Float32Stamped>::SharedPtr sub_nearest_voxel_transformation_likelihood_;
-
-  rclcpp::Clock::SharedPtr clock_;
-  rclcpp::TimerBase::SharedPtr timer_;
-  double status_pub_hz_;
-
-  autoware_ad_api_msgs::msg::LocalizationScore score_tp_;
-  autoware_ad_api_msgs::msg::LocalizationScore score_nvtl_;
-  bool is_tp_received_;
-  bool is_nvtl_received_;
-};
-
-}  // namespace default_ad_api
-
-#endif  // LOCALIZATION_SCORE_HPP_