diff --git a/autoware_api_launch/launch/include/internal_api_relay.launch.xml b/autoware_api_launch/launch/include/internal_api_relay.launch.xml
index 46859d0fb..810e6a566 100644
--- a/autoware_api_launch/launch/include/internal_api_relay.launch.xml
+++ b/autoware_api_launch/launch/include/internal_api_relay.launch.xml
@@ -9,12 +9,12 @@
     <node pkg="topic_tools" exec="relay" name="intersection_states">
       <param name="input_topic" value="/api/autoware/set/intersection_states"/>
       <param name="output_topic" value="/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states"/>
-      <param name="type" value="autoware_api_msgs/msg/IntersectionStatus"/>
+      <param name="type" value="tier4_api_msgs/msg/IntersectionStatus"/>
     </node>
     <node pkg="topic_tools" exec="relay" name="crosswalk_states">
       <param name="input_topic" value="/api/autoware/set/crosswalk_states"/>
       <param name="output_topic" value="/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states"/>
-      <param name="type" value="autoware_api_msgs/msg/CrosswalkStatus"/>
+      <param name="type" value="tier4_api_msgs/msg/CrosswalkStatus"/>
     </node>
     <!-- TODO(Takagi, Isamu): workaround for topic check -->
     <node pkg="topic_tools" exec="relay" name="initial_pose_2d">
diff --git a/autoware_launch/autoware_launch.drawio.svg b/autoware_launch/autoware_launch.drawio.svg
index 808a956be..b0f7660b0 100644
--- a/autoware_launch/autoware_launch.drawio.svg
+++ b/autoware_launch/autoware_launch.drawio.svg
@@ -1,4 +1,4 @@
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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 1190px; margin-left: 1892px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">control.launch.py<br /><br /><div style="text-align: left"><span>package: control_launch</span></div></div></div></div></foreignObject><text x="1996" y="1194" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">control.launch.py...</text></switch></g><path d="M 1571 230 L 1581 230 Q 1591 230 1591 240 L 1591 1180 Q 1591 1190 1599.32 1190 L 1607.63 1190" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1612.88 1190 L 1605.88 1193.5 L 1607.63 1190 L 1605.88 1186.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><rect x="1614" y="1380" width="210" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 1430px; margin-left: 1615px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">autoware_web_controller.launch.xml<br /><br /><div style="text-align: left"><span>package: control_launch</span></div></div></div></div></foreignObject><text x="1719" y="1434" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_web_controller.launch.xml...</text></switch></g><path d="M 1571 230 L 1581 230 Q 1591 230 1591 240 L 1591 1420 Q 1591 1430 1599.32 1430 L 1607.63 1430" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1612.88 1430 L 1605.88 1433.5 L 1607.63 1430 L 1605.88 1426.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><rect x="1614" y="1260" width="210" height="100" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 1310px; margin-left: 1615px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">rviz2<br /><br /><div style="text-align: left"><span>package: rviz2</span></div></div></div></div></foreignObject><text x="1719" y="1314" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">rviz2...</text></switch></g><path d="M 1571 230 L 1581 230 Q 1591 230 1590.99 240 L 1590.01 1300 Q 1590 1310 1598.82 1310 L 1607.63 1310" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1612.88 1310 L 1605.88 1313.5 L 1607.63 1310 L 1605.88 1306.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><path d="M 1716 310 L 1821 350 L 1716 390 L 1611 350 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 470px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var system)</div></div></div></foreignObject><text x="1716" y="474" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var system)</text></switch></g><path d="M 1821 470 L 1884.63 470" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 470 L 1882.88 473.5 L 1884.63 470 L 1882.88 466.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 471px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="474" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><path d="M 1716 550 L 1821 590 L 1716 630 L 1611 590 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 590px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var map)</div></div></div></foreignObject><text x="1716" y="594" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var map)</text></switch></g><path d="M 1821 590 L 1884.63 590" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 590 L 1882.88 593.5 L 1884.63 590 L 1882.88 586.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 591px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="594" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><rect x="200" y="650" width="210" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 700px; margin-left: 201px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">sensing.launch.xml<br /><br /><div style="text-align: left"><span>package: sensing_launch</span></div></div></div></div></foreignObject><text x="305" y="704" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">sensing.launch.xml...</text></switch></g><path d="M 160 220 L 170 220 Q 180 220 180 230 L 180 690 Q 180 700 186.82 700 L 193.63 700" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 198.88 700 L 191.88 703.5 L 193.63 700 L 191.88 696.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><rect x="1891" y="660" width="209" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 207px; height: 1px; padding-top: 710px; margin-left: 1892px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">sensing.launch.xml<br /><br /><div style="text-align: left"><span>package: sensing_launch</span></div></div></div></div></foreignObject><text x="1996" y="714" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">sensing.launch.xml...</text></switch></g><path d="M 1571 230 L 1581 230 Q 1591 230 1591 240 L 1591 820 Q 1591 830 1597.82 830 L 1604.63 830" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1609.88 830 L 1602.88 833.5 L 1604.63 830 L 1602.88 826.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><path d="M 1716 670 L 1821 710 L 1716 750 L 1611 710 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 710px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var sensing)</div></div></div></foreignObject><text x="1716" y="714" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var sensing)</text></switch></g><path d="M 1821 710 L 1884.63 710" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 710 L 1882.88 713.5 L 1884.63 710 L 1882.88 706.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 711px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="714" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><rect x="1891" y="780" width="209" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 207px; height: 1px; padding-top: 830px; margin-left: 1892px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">localization.launch.xml<br /><br /><div style="text-align: left"><span>package: localization_launch</span></div></div></div></div></foreignObject><text x="1996" y="834" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">localization.launch.xml...</text></switch></g><path d="M 1716 790 L 1821 830 L 1716 870 L 1611 830 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 830px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var localization)</div></div></div></foreignObject><text x="1716" y="834" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var localization)</text></switch></g><path d="M 1821 830 L 1884.63 830" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 830 L 1882.88 833.5 L 1884.63 830 L 1882.88 826.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 831px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="834" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><path d="M 1716 910 L 1821 950 L 1716 990 L 1611 950 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 950px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var perception)</div></div></div></foreignObject><text x="1716" y="954" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var perception)</text></switch></g><path d="M 1821 950 L 1884.63 950" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 950 L 1882.88 953.5 L 1884.63 950 L 1882.88 946.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 951px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="954" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><path d="M 1716 1030 L 1821 1070 L 1716 1110 L 1611 1070 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 1070px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var planning)</div></div></div></foreignObject><text x="1716" y="1074" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var planning)</text></switch></g><path d="M 1821 1070 L 1884.63 1070" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 1070 L 1882.88 1073.5 L 1884.63 1070 L 1882.88 1066.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1071px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="1074" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><path d="M 1719 1150 L 1824 1190 L 1719 1230 L 1614 1190 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 1190px; margin-left: 1615px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var control)</div></div></div></foreignObject><text x="1719" y="1194" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var control)</text></switch></g><path d="M 1824 1190 L 1887.63 1190" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1892.88 1190 L 1885.88 1193.5 L 1887.63 1190 L 1885.88 1186.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1191px; margin-left: 1854px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1854" y="1194" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><rect x="1614" y="1500" width="210" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 1550px; margin-left: 1615px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">simulator.launch.xml<br /><br /><div style="text-align: left"><span>package: </span><span>simulator_launch</span></div></div></div></div></foreignObject><text x="1719" y="1554" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">simulator.launch.xml...</text></switch></g><rect x="850" y="1390" width="210" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 1310px; margin-left: 1615px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">rviz2<br /><br /><div style="text-align: left"><span>package: rviz2</span></div></div></div></div></foreignObject><text x="1719" y="1314" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">rviz2...</text></switch></g><path d="M 1571 230 L 1581 230 Q 1591 230 1590.99 240 L 1590.01 1300 Q 1590 1310 1598.82 1310 L 1607.63 1310" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1612.88 1310 L 1605.88 1313.5 L 1607.63 1310 L 1605.88 1306.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><path d="M 1716 310 L 1821 350 L 1716 390 L 1611 350 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 350px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var vehicle)</div></div></div></foreignObject><text x="1716" y="354" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var vehicle)</text></switch></g><path d="M 1821 350 L 1884.63 350" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 350 L 1882.88 353.5 L 1884.63 350 L 1882.88 346.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 471px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="474" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><path d="M 1716 550 L 1821 590 L 1716 630 L 1611 590 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 590px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var map)</div></div></div></foreignObject><text x="1716" y="594" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var map)</text></switch></g><path d="M 1821 590 L 1884.63 590" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 590 L 1882.88 593.5 L 1884.63 590 L 1882.88 586.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 591px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="594" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><rect x="200" y="650" width="210" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 700px; margin-left: 201px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">sensing.launch.xml<br /><br /><div style="text-align: left"><span>package: sensing_launch</span></div></div></div></div></foreignObject><text x="305" y="704" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">sensing.launch.xml...</text></switch></g><path d="M 160 220 L 170 220 Q 180 220 180 230 L 180 690 Q 180 700 186.82 700 L 193.63 700" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 198.88 700 L 191.88 703.5 L 193.63 700 L 191.88 696.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><rect x="1891" y="660" width="209" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 207px; height: 1px; padding-top: 710px; margin-left: 1892px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">sensing.launch.xml<br /><br /><div style="text-align: left"><span>package: sensing_launch</span></div></div></div></div></foreignObject><text x="1996" y="714" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">sensing.launch.xml...</text></switch></g><path d="M 1571 230 L 1581 230 Q 1591 230 1591 240 L 1591 820 Q 1591 830 1597.82 830 L 1604.63 830" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1609.88 830 L 1602.88 833.5 L 1604.63 830 L 1602.88 826.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><path d="M 1716 670 L 1821 710 L 1716 750 L 1611 710 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 710px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var sensing)</div></div></div></foreignObject><text x="1716" y="714" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var sensing)</text></switch></g><path d="M 1821 710 L 1884.63 710" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 710 L 1882.88 713.5 L 1884.63 710 L 1882.88 706.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 711px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="714" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><rect x="1891" y="780" width="209" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 207px; height: 1px; padding-top: 830px; margin-left: 1892px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">localization.launch.xml<br /><br /><div style="text-align: left"><span>package: localization_launch</span></div></div></div></div></foreignObject><text x="1996" y="834" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">localization.launch.xml...</text></switch></g><path d="M 1716 790 L 1821 830 L 1716 870 L 1611 830 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 830px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var localization)</div></div></div></foreignObject><text x="1716" y="834" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var localization)</text></switch></g><path d="M 1821 830 L 1884.63 830" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 830 L 1882.88 833.5 L 1884.63 830 L 1882.88 826.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 831px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="834" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><path d="M 1716 910 L 1821 950 L 1716 990 L 1611 950 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 950px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var perception)</div></div></div></foreignObject><text x="1716" y="954" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var perception)</text></switch></g><path d="M 1821 950 L 1884.63 950" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 950 L 1882.88 953.5 L 1884.63 950 L 1882.88 946.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 951px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="954" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><path d="M 1716 1030 L 1821 1070 L 1716 1110 L 1611 1070 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 1070px; margin-left: 1612px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var planning)</div></div></div></foreignObject><text x="1716" y="1074" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var planning)</text></switch></g><path d="M 1821 1070 L 1884.63 1070" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1889.88 1070 L 1882.88 1073.5 L 1884.63 1070 L 1882.88 1066.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1071px; margin-left: 1851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1851" y="1074" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><path d="M 1719 1150 L 1824 1190 L 1719 1230 L 1614 1190 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 1190px; margin-left: 1615px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">$(var control)</div></div></div></foreignObject><text x="1719" y="1194" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">$(var control)</text></switch></g><path d="M 1824 1190 L 1887.63 1190" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1892.88 1190 L 1885.88 1193.5 L 1887.63 1190 L 1885.88 1186.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1191px; margin-left: 1854px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="1854" y="1194" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">True</text></switch></g><rect x="1614" y="1500" width="210" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 1550px; margin-left: 1615px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">simulator.launch.xml<br /><br /><div style="text-align: left"><span>package: </span><span>simulator_launch</span></div></div></div></div></foreignObject><text x="1719" y="1554" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">simulator.launch.xml...</text></switch></g><rect x="850" y="1390" width="210" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 208px; height: 1px; padding-top: 1440px; margin-left: 851px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">simulator.launch.xml<br /><br /><div style="text-align: left"><span>package: </span><span>simulator_launch</span></div></div></div></div></foreignObject><text x="955" y="1444" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">simulator.launch.xml...</text></switch></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Viewer does not support full SVG 1.1</text></a></switch></svg>
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index d49c1742d..2d2272b66 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -13,7 +13,7 @@
   <arg name="use_foa" default="false"/>
 
   <!-- Global parameters -->
-  <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
@@ -87,6 +87,6 @@
   </node>
 
   <!-- Web Controller -->
-  <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" />
+  <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" />
 
 </launch>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index f9b38abe9..9aa92f3a3 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -27,7 +27,7 @@
   <arg name="use_foa" default="false" />
 
   <!-- Global parameters -->
-  <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
     <arg name="use_sim_time" value="true" />
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
@@ -121,7 +121,7 @@
 
   <!-- Web Controller -->
   <group>
-    <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" />
+    <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" />
   </group>
 
   <!-- Simulator -->
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index b1f03acc4..a7e4c8136 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -20,7 +20,7 @@
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
 
   <!-- Global parameters -->
-  <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
@@ -65,7 +65,7 @@
   <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)"/>
 
   <!-- Web Controller -->
-  <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" unless="$(var scenario_simulation)"/>
+  <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" unless="$(var scenario_simulation)"/>
 
   <!-- Simulator -->
   <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml">
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
index 381678775..ff6f4dba9 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -10,9 +10,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>autoware_api_launch</exec_depend>
-  <exec_depend>autoware_global_parameter_loader</exec_depend>
-  <exec_depend>autoware_web_controller</exec_depend>
   <exec_depend>control_launch</exec_depend>
+  <exec_depend>global_parameter_loader</exec_depend>
   <exec_depend>localization_launch</exec_depend>
   <exec_depend>map_launch</exec_depend>
   <exec_depend>perception_launch</exec_depend>
@@ -24,6 +23,7 @@
   <exec_depend>simulator_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
   <exec_depend>vehicle_launch</exec_depend>
+  <exec_depend>web_controller</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 9074177c8..0486b0dbb 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -16,7 +16,7 @@ Panels:
     Expanded: ~
     Name: Views
     Splitter Ratio: 0.5
-  - Class: autoware_localization_rviz_plugin/InitialPoseButtonPanel
+  - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel
     Name: InitialPoseButtonPanel
   - Class: rviz_common/Time
     Experimental: false
diff --git a/integration_launch/package.xml b/integration_launch/package.xml
index 118963ab7..07cf7e3a1 100644
--- a/integration_launch/package.xml
+++ b/integration_launch/package.xml
@@ -8,7 +8,6 @@
   <license>Apache 2</license>
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <exec_depend>autoware_web_controller</exec_depend>
   <exec_depend>control_launch</exec_depend>
   <exec_depend>localization_launch</exec_depend>
   <exec_depend>map_launch</exec_depend>
@@ -20,6 +19,7 @@
   <exec_depend>sensing_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
   <exec_depend>vehicle_launch</exec_depend>
+  <exec_depend>web_controller</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
index b37b40eaa..eb8b23509 100644
--- a/system_launch/launch/system.launch.xml
+++ b/system_launch/launch/system.launch.xml
@@ -23,16 +23,16 @@
     </group>
 
     <!-- State Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/autoware_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/autoware_state_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
-    <include file="$(find-pkg-share autoware_state_monitor)/launch/autoware_state_monitor.launch.xml">
+    <let name="config_file" value="$(find-pkg-share ad_service_state_monitor)/config/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+    <let name="config_file" value="$(find-pkg-share ad_service_state_monitor)/config/ad_service_state_monitor.planning_simulation.param.yaml" if="$(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>
 
     <!-- Error Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/autoware_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/autoware_error_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
-    <include file="$(find-pkg-share autoware_error_monitor)/launch/autoware_error_monitor.launch.xml">
+    <let name="config_file" value="$(find-pkg-share system_error_monitor)/config/system_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+    <let name="config_file" value="$(find-pkg-share system_error_monitor)/config/system_error_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
+    <include file="$(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_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
diff --git a/system_launch/package.xml b/system_launch/package.xml
index b2150348e..7f8169ed5 100644
--- a/system_launch/package.xml
+++ b/system_launch/package.xml
@@ -10,9 +10,9 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <exec_depend>autoware_error_monitor</exec_depend>
-  <exec_depend>autoware_state_monitor</exec_depend>
+  <exec_depend>ad_service_state_monitor</exec_depend>
   <exec_depend>emergency_handler</exec_depend>
+  <exec_depend>system_error_monitor</exec_depend>
   <exec_depend>system_monitor</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/system_launch/system_launch.drawio.svg b/system_launch/system_launch.drawio.svg
index b22f00594..bc039dbba 100644
--- a/system_launch/system_launch.drawio.svg
+++ b/system_launch/system_launch.drawio.svg
@@ -200,11 +200,11 @@
                     <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 428px; height: 1px; padding-top: 380px; margin-left: 511px;">
                         <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
                             <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                autoware_state_monitor.launch.xml
+                                ad_service_state_monitor.launch.xml
                                 <br/>
                                 <br/>
                                 <div style="text-align: left">
-                                    package: autoware_state_monitor
+                                    package: ad_service_state_monitor
                                 </div>
                                 <div style="text-align: left">
                                     <br/>
@@ -212,7 +212,7 @@
                                 <div style="text-align: left">
                                     args: config_file =
                                     <font color="#ff0000">
-                                        autoware_state_monitor.param.yaml
+                                        ad_service_state_monitor.param.yaml
                                     </font>
                                 </div>
                             </div>
@@ -220,7 +220,7 @@
                     </div>
                 </foreignObject>
                 <text x="725" y="384" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    autoware_state_monitor.launch.xml...
+                    ad_service_state_monitor.launch.xml...
                 </text>
             </switch>
         </g>
@@ -231,11 +231,11 @@
                     <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 431px; height: 1px; padding-top: 530px; margin-left: 508px;">
                         <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
                             <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                autoware_state_monitor.launch.xml
+                                ad_service_state_monitor.launch.xml
                                 <br/>
                                 <br/>
                                 <div style="text-align: left">
-                                    package: autoware_state_monitor
+                                    package: ad_service_state_monitor
                                 </div>
                                 <div style="text-align: left">
                                     <br/>
@@ -243,7 +243,7 @@
                                 <div style="text-align: left">
                                     args: config_file =
                                     <font color="#ff0000">
-                                        autoware_state_monitor.planning_simulation.param.yaml
+                                        ad_service_state_monitor.planning_simulation.param.yaml
                                     </font>
                                 </div>
                             </div>
@@ -251,7 +251,7 @@
                     </div>
                 </foreignObject>
                 <text x="724" y="534" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    autoware_state_monitor.launch.xml...
+                    ad_service_state_monitor.launch.xml...
                 </text>
             </switch>
         </g>
@@ -317,11 +317,11 @@
                     <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 428px; height: 1px; padding-top: 680px; margin-left: 511px;">
                         <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
                             <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                autoware_error_monitor.launch.xml
+                                system_error_monitor.launch.xml
                                 <br/>
                                 <br/>
                                 <div style="text-align: left">
-                                    package: autoware_error_monitor
+                                    package: system_error_monitor
                                 </div>
                                 <div style="text-align: left">
                                     <br/>
@@ -329,7 +329,7 @@
                                 <div style="text-align: left">
                                     args: config_file =
                                     <font color="#ff0000">
-                                        autoware_error_monitor.param.yaml
+                                        system_error_monitor.param.yaml
                                     </font>
                                 </div>
                             </div>
@@ -337,7 +337,7 @@
                     </div>
                 </foreignObject>
                 <text x="725" y="684" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    autoware_error_monitor.launch.xml...
+                    system_error_monitor.launch.xml...
                 </text>
             </switch>
         </g>
@@ -348,11 +348,11 @@
                     <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 431px; height: 1px; padding-top: 830px; margin-left: 508px;">
                         <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
                             <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                autoware_error_monitor.launch.xml
+                                system_error_monitor.launch.xml
                                 <br/>
                                 <br/>
                                 <div style="text-align: left">
-                                    package: autoware_error_monitor
+                                    package: system_error_monitor
                                 </div>
                                 <div style="text-align: left">
                                     <br/>
@@ -360,7 +360,7 @@
                                 <div style="text-align: left">
                                     args: config_file =
                                     <font color="#ff0000">
-                                        autoware_error_monitor.planning_simulation.param.yaml
+                                        system_error_monitor.planning_simulation.param.yaml
                                     </font>
                                 </div>
                             </div>
@@ -368,7 +368,7 @@
                     </div>
                 </foreignObject>
                 <text x="724" y="834" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    autoware_error_monitor.launch.xml...
+                    system_error_monitor.launch.xml...
                 </text>
             </switch>
         </g>
@@ -405,4 +405,4 @@
             </text>
         </a>
     </switch>
-</svg>
\ No newline at end of file
+</svg>