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 499cf3c192164..912a7f3e48f41 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
@@ -47,37 +47,40 @@
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
   <arg name="input/radar"/>
-
+  <arg name="input/tracked_objects" default="/perception/object_recognition/tracking/objects"/>
   <arg name="output/objects" default="objects"/>
 
   <!-- internal interfaces -->
-  <arg name="pointcloud_filter/output/pointcloud" default="$(var ns)/pointcloud_map_filtered/pointcloud"/>
-  <arg name="lidar_ml_detector/output/objects" default="$(var ns)/$(var lidar_detection_model_type)/objects"/>
-  <arg name="lidar_rule_detector/output/objects" default="$(var ns)/clustering/objects"/>
-  <arg name="camera_lidar_rule_detector/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/objects"/>
-  <arg name="tracker_based_detector/output/objects" default="$(var ns)/detection_by_tracker/objects"/>
-  <arg name="lidar_object_filter/output/objects" default="$(var ns)/$(var lidar_detection_model_type)/validation/objects"/>
-  <arg name="camera_lidar_object_filter/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/filtered/objects"/>
-  <arg name="radar_pipeline/output/objects" default="$(var ns)/radar/far_objects"/>
-  <arg name="radar_object_filter/output/objects" default="$(var ns)/radar/far_objects"/>
+  <let name="pointcloud_filter/output/pointcloud" value="$(var ns)/pointcloud_map_filtered/pointcloud"/>
+  <let name="lidar_ml_detector/output/objects" value="$(var ns)/$(var lidar_detection_model_type)/objects"/>
+  <let name="lidar_rule_detector/output/cluster_objects" value="$(var ns)/clustering/objects_with_feature"/>
+  <let name="lidar_rule_detector/output/objects" value="$(var ns)/clustering/objects"/>
+  <let name="camera_lidar_rule_detector/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects"/>
+  <let name="camera_lidar_rule_detector/output/cluster_objects" value="$(var ns)/clustering/objects_with_feature"/>
+  <let name="tracker_based_detector/input/clusters" value="$(var ns)/clustering/objects_with_feature"/>
+  <let name="tracker_based_detector/output/objects" value="$(var ns)/detection_by_tracker/objects"/>
+  <let name="lidar_object_filter/output/objects" value="$(var ns)/$(var lidar_detection_model_type)/validation/objects"/>
+  <let name="camera_lidar_object_filter/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/filtered/objects"/>
+  <let name="radar_pipeline/output/objects" value="$(var ns)/radar/far_objects"/>
+  <let name="radar_object_filter/output/objects" value="$(var ns)/radar/far_objects"/>
 
   <!-- Module switching -->
-  <arg name="switch/detector/camera_lidar" default="false"/>
-  <arg name="switch/detector/lidar_dnn" default="false"/>
-  <arg name="switch/detector/lidar_rule" default="false"/>
-  <arg name="switch/detector/radar" default="false"/>
-  <arg name="switch/detector/radar_only" default="false"/>
-  <arg name="switch/detector/tracker_based" default="false"/>
+  <let name="switch/detector/camera_lidar" value="false"/>
+  <let name="switch/detector/lidar_dnn" value="false"/>
+  <let name="switch/detector/lidar_rule" value="false"/>
+  <let name="switch/detector/radar" value="false"/>
+  <let name="switch/detector/radar_only" value="false"/>
+  <let name="switch/detector/tracker_based" value="false"/>
   <let name="switch/detector/tracker_based" value="true" if="$(var use_detection_by_tracker)"/>
 
-  <arg name="switch/filter/pointcloud" default="false"/>
-  <arg name="switch/filter/camera_lidar_object" default="false"/>
-  <arg name="switch/filter/lidar_object" default="false"/>
+  <let name="switch/filter/pointcloud" value="false"/>
+  <let name="switch/filter/camera_lidar_object" value="false"/>
+  <let name="switch/filter/lidar_object" value="false"/>
 
-  <arg name="switch/merger/camera_lidar_radar" default="false"/>
-  <arg name="switch/merger/camera_lidar" default="false"/>
-  <arg name="switch/merger/lidar_radar" default="false"/>
-  <arg name="switch/merger/lidar" default="false"/>
+  <let name="switch/merger/camera_lidar_radar" value="false"/>
+  <let name="switch/merger/camera_lidar" value="false"/>
+  <let name="switch/merger/lidar_radar" value="false"/>
+  <let name="switch/merger/lidar" value="false"/>
 
   <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
     <let name="switch/filter/pointcloud" value="true"/>
@@ -129,6 +132,7 @@
   <group if="$(var switch/detector/camera_lidar)">
     <!-- Camera-Lidar detectors -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
+      <arg name="ns" value="$(var ns)"/>
       <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
       <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
@@ -159,6 +163,7 @@
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output/ml_detector/objects" value="$(var lidar_ml_detector/output/objects)"/>
       <arg name="output/rule_detector/objects" value="$(var camera_lidar_rule_detector/output/objects)"/>
+      <arg name="output/clustering/cluster_objects" value="$(var camera_lidar_rule_detector/output/cluster_objects)"/>
       <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model_type" value="$(var lidar_detection_model_type)"/>
       <arg name="lidar_detection_model_name" value="$(var lidar_detection_model_name)"/>
@@ -182,9 +187,11 @@
   <group if="$(var switch/detector/lidar_rule)">
     <!-- Lidar rule-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
+      <arg name="ns" value="$(var ns)"/>
       <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="input/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="output/cluster_objects" value="$(var lidar_rule_detector/output/cluster_objects)"/>
       <arg name="output/objects" value="$(var lidar_rule_detector/output/objects)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     </include>
@@ -217,6 +224,8 @@
   <!-- DetectionByTracker -->
   <group if="$(var switch/detector/tracker_based)">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+      <arg name="input/clusters" value="$(var tracker_based_detector/input/clusters)"/>
+      <arg name="input/tracked_objects" value="$(var input/tracked_objects)"/>
       <arg name="output/objects" value="$(var tracker_based_detector/output/objects)"/>
       <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index e06682853d956..da30500070850 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -1,5 +1,8 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Current namespace -->
+  <arg name="ns" description="current namespace"/>
+
   <!-- Lidar + Camera detector parameters -->
   <arg name="lidar_detection_model_type" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
   <arg name="lidar_detection_model_name" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
@@ -41,6 +44,35 @@
 
   <arg name="output/ml_detector/objects"/>
   <arg name="output/rule_detector/objects"/>
+  <arg name="output/clustering/cluster_objects"/>
+
+  <!-- Internal interfaces -->
+  <let name="pointpainting/input/pointcloud" value="$(var input/pointcloud)"/>
+  <let name="pointpainting/output/objects" value="$(var output/ml_detector/objects)"/>
+
+  <let name="segmentation_based_filtered/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+  <let name="segmentation_based_filtered/output/pointcloud" value="$(var ns)/segmentation_based_filtered/pointcloud"/>
+
+  <let name="euclidean_cluster/input/pointcloud" value="$(var segmentation_based_filtered/output/pointcloud)" if="$(var use_image_segmentation_based_filter)"/>
+  <let name="euclidean_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
+  <let name="clustering/clusters" value="$(var ns)/clustering/clusters"/>
+  <let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
+  <let name="euclidean_cluster/output/clusters" value="$(var clustering/clusters)" unless="$(var use_roi_based_cluster)"/>
+  <let name="roi_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+  <let name="roi_cluster/output/clusters" value="$(var ns)/clustering/roi_cluster/clusters"/>
+  <let name="roi_merged_cluster/output/clusters" value="$(var clustering/clusters)"/>
+  <let name="shape_estimation1/input/clusters" value="$(var clustering/clusters)"/>
+  <let name="shape_estimation1/output/objects" value="$(var output/clustering/cluster_objects)"/>
+
+  <let name="roi_cluster_fusion/input/clusters" value="$(var ns)/clustering/clusters"/>
+  <let name="roi_cluster_fusion/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/clusters"/>
+  <let name="low_intensity_cluster_filter/input/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
+  <let name="low_intensity_cluster_filter/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/filtered/clusters"/>
+  <let name="shape_estimation2/input/clusters" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
+  <let name="shape_estimation2/input/clusters" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>
+  <let name="shape_estimation2/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects_with_feature"/>
+  <let name="detected_object_feature_remover/input/objects_with_feature" value="$(var shape_estimation2/output/objects)"/>
+  <let name="detected_object_feature_remover/output/objects" value="$(var output/rule_detector/objects)"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share autoware_tensorrt_yolox)/launch/multiple_yolox.launch.xml">
@@ -85,8 +117,8 @@
       <arg name="input/image5" value="$(var input/camera5/image)"/>
       <arg name="input/image6" value="$(var input/camera6/image)"/>
       <arg name="input/image7" value="$(var input/camera7/image)"/>
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="$(var output/ml_detector/objects)"/>
+      <arg name="input/pointcloud" value="$(var pointpainting/input/pointcloud)"/>
+      <arg name="output/objects" value="$(var pointpainting/output/objects)"/>
 
       <arg name="model_name" value="$(var lidar_detection_model_name)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
@@ -101,8 +133,8 @@
   <!-- Image_segmentation based filter, apply for camera0 only-->
   <group>
     <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/segmentation_pointcloud_fusion.launch.xml" if="$(var use_image_segmentation_based_filter)">
-      <arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-      <arg name="output/pointcloud" value="/perception/object_recognition/detection/segmentation_based_filtered/pointcloud"/>
+      <arg name="input/pointcloud" value="$(var segmentation_based_filtered/input/pointcloud)"/>
+      <arg name="output/pointcloud" value="$(var segmentation_based_filtered/output/pointcloud)"/>
     </include>
   </group>
 
@@ -110,14 +142,11 @@
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
-      <let name="euclidean_cluster_input" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
-      <let name="euclidean_cluster_input" value="/perception/object_recognition/detection/segmentation_based_filtered/pointcloud" if="$(var use_image_segmentation_based_filter)"/>
-      <let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
-      <let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
       <include file="$(find-pkg-share autoware_euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var euclidean_cluster_input)"/>
-        <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
+        <arg name="input_pointcloud" value="$(var euclidean_cluster/input/pointcloud)"/>
+        <arg name="output_clusters" value="$(var euclidean_cluster/output/clusters)"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+        <arg name="use_pointcloud_container" value="false"/>
       </include>
     </group>
 
@@ -151,8 +180,8 @@
           <arg name="input/image5" value="$(var input/camera5/image)"/>
           <arg name="input/image6" value="$(var input/camera6/image)"/>
           <arg name="input/image7" value="$(var input/camera7/image)"/>
-          <arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-          <arg name="output_clusters" value="clusters"/>
+          <arg name="input/pointcloud" value="$(var roi_cluster/input/pointcloud)"/>
+          <arg name="output_clusters" value="$(var roi_cluster/output/clusters)"/>
           <arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
         </include>
       </group>
@@ -161,21 +190,21 @@
     <!-- simple_cluster_merger -->
     <group>
       <include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
-        <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
-        <arg name="input/cluster1" value="roi_cluster/clusters"/>
-        <arg name="output/clusters" value="clusters"/>
+        <arg name="input/cluster0" value="$(var euclidean_cluster/output/clusters)"/>
+        <arg name="input/cluster1" value="$(var roi_cluster/output/clusters)"/>
+        <arg name="output/clusters" value="$(var roi_merged_cluster/output/clusters)"/>
       </include>
     </group>
 
+    <!-- shape_estimation 1 -->
     <group>
       <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
+        <arg name="input/objects" value="$(var shape_estimation1/input/clusters)"/>
+        <arg name="output/objects" value="$(var shape_estimation1/output/objects)"/>
       </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 -->
 
@@ -207,8 +236,8 @@
           <arg name="input/image5" value="$(var input/camera5/image)"/>
           <arg name="input/image6" value="$(var input/camera6/image)"/>
           <arg name="input/image7" value="$(var input/camera7/image)"/>
-          <arg name="input/clusters" value="$(var input/clustering)"/>
-          <arg name="output/clusters" value="clusters"/>
+          <arg name="input/clusters" value="$(var roi_cluster_fusion/input/clusters)"/>
+          <arg name="output/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
           <arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
         </include>
       </group>
@@ -216,24 +245,22 @@
       <!-- low_intensity_cluster_filter -->
       <group>
         <include file="$(find-pkg-share autoware_raindrop_cluster_filter)/launch/low_intensity_cluster_filter.launch.xml" if="$(var use_low_intensity_cluster_filter)">
-          <arg name="input/objects" value="clusters"/>
-          <arg name="output/objects" value="filtered/clusters"/>
+          <arg name="input/objects" value="$(var low_intensity_cluster_filter/input/clusters)"/>
+          <arg name="output/objects" value="$(var low_intensity_cluster_filter/output/clusters)"/>
         </include>
       </group>
 
       <group>
-        <let name="shape_estimation/input" value="filtered/clusters" if="$(var use_low_intensity_cluster_filter)"/>
-        <let name="shape_estimation/input" value="clusters" unless="$(var use_low_intensity_cluster_filter)"/>
         <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
-          <arg name="input/objects" value="$(var shape_estimation/input)"/>
-          <arg name="output/objects" value="objects_with_feature"/>
+          <arg name="input/objects" value="$(var shape_estimation2/input/clusters)"/>
+          <arg name="output/objects" value="$(var shape_estimation2/output/objects)"/>
         </include>
       </group>
       <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
       <group>
         <include file="$(find-pkg-share autoware_detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-          <arg name="input" value="objects_with_feature"/>
-          <arg name="output" value="$(var output/rule_detector/objects)"/>
+          <arg name="input" value="$(var detected_object_feature_remover/input/objects_with_feature)"/>
+          <arg name="output" value="$(var detected_object_feature_remover/output/objects)"/>
         </include>
       </group>
     </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
index 76ed8ad5b2700..50cde24473d2c 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -1,20 +1,31 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Current namespace -->
+  <arg name="ns" description="current namespace"/>
+
   <!-- External interfaces -->
   <arg name="node/pointcloud_container"/>
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
+  <arg name="output/cluster_objects"/>
   <arg name="output/objects"/>
 
+  <!-- Internal interfaces -->
+  <let name="euclidean_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+  <let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/clusters"/>
+  <let name="shape_estimation/input/objects" value="$(var ns)/clustering/clusters"/>
+  <let name="shape_estimation/output/objects" value="$(var output/cluster_objects)"/>
+  <let name="detected_object_feature_remover/input" value="$(var output/cluster_objects)"/>
+  <let name="detected_object_feature_remover/output" value="$(var output/objects)"/>
+
   <!-- Clustering -->
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
       <include file="$(find-pkg-share autoware_euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-        <arg name="output_clusters" value="clusters"/>
+        <arg name="input_pointcloud" value="$(var euclidean_cluster/input/pointcloud)"/>
+        <arg name="output_clusters" value="$(var euclidean_cluster/output/clusters)"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-
         <arg name="use_pointcloud_container" value="true"/>
         <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       </include>
@@ -22,16 +33,16 @@
 
     <group>
       <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
+        <arg name="input/objects" value="$(var shape_estimation/input/objects)"/>
+        <arg name="output/objects" value="$(var shape_estimation/output/objects)"/>
       </include>
     </group>
 
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <group>
       <include file="$(find-pkg-share autoware_detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="$(var output/objects)"/>
+        <arg name="input" value="$(var detected_object_feature_remover/input)"/>
+        <arg name="output" value="$(var detected_object_feature_remover/output)"/>
       </include>
     </group>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
index 754542f65b0ba..286bd43a8cc1e 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
@@ -1,11 +1,17 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- External interfaces -->
+  <arg name="input/clusters"/>
+  <arg name="input/tracked_objects"/>
   <arg name="output/objects"/>
+
   <!-- DetectionByTracker -->
   <group>
     <push-ros-namespace namespace="detection_by_tracker"/>
     <include file="$(find-pkg-share autoware_detection_by_tracker)/launch/detection_by_tracker.launch.xml">
       <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      <arg name="input/initial_objects" value="$(var input/clusters)"/>
+      <arg name="input/tracked_objects" value="$(var input/tracked_objects)"/>
       <arg name="output" value="$(var output/objects)"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 83c7c202e8c0a..02a34eab8fe9a 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -77,7 +77,7 @@
   <arg name="image_number" default="6" description="choose image raw number(1-8)"/>
   <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_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
+  <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in the euclidean clustering"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
   <arg name="use_roi_based_cluster" default="true" description="use roi_based_cluster in clustering"/>