diff --git a/README.md b/README.md
index 2e4b5af38..dc6f60786 100644
--- a/README.md
+++ b/README.md
@@ -19,6 +19,5 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map
 - [autoware_launch](./autoware_launch)
 - [control_launch](./control_launch)
 - [integration_launch](./integration_launch)
-- [localization_launch](./localization_launch)
 - [planning_launch](./planning_launch)
 - [system_launch](./system_launch)
diff --git a/localization_launch/config/crop_box_filter_measurement_range.param.yaml b/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml
similarity index 100%
rename from localization_launch/config/crop_box_filter_measurement_range.param.yaml
rename to autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml
diff --git a/localization_launch/config/localization_error_monitor.param.yaml b/autoware_launch/config/localization/localization_error_monitor.param.yaml
similarity index 100%
rename from localization_launch/config/localization_error_monitor.param.yaml
rename to autoware_launch/config/localization/localization_error_monitor.param.yaml
diff --git a/localization_launch/config/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
similarity index 100%
rename from localization_launch/config/ndt_scan_matcher.param.yaml
rename to autoware_launch/config/localization/ndt_scan_matcher.param.yaml
diff --git a/localization_launch/config/random_downsample_filter.param.yaml b/autoware_launch/config/localization/random_downsample_filter.param.yaml
similarity index 100%
rename from localization_launch/config/random_downsample_filter.param.yaml
rename to autoware_launch/config/localization/random_downsample_filter.param.yaml
diff --git a/localization_launch/config/voxel_grid_filter.param.yaml b/autoware_launch/config/localization/voxel_grid_filter.param.yaml
similarity index 100%
rename from localization_launch/config/voxel_grid_filter.param.yaml
rename to autoware_launch/config/localization/voxel_grid_filter.param.yaml
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index c6d17ba03..f3d79b996 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -95,7 +95,7 @@
 
   <!-- Localization -->
   <group if="$(var launch_localization)">
-    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"/>
   </group>
 
   <!-- Perception -->
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
new file mode 100644
index 000000000..7ef5fa06f
--- /dev/null
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
+    <arg name="pointcloud_container_name" value="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"/>
+
+    <arg name="crop_box_filter_measurement_range_param_path" value="$(find-pkg-share autoware_launch)/config/localization/crop_box_filter_measurement_range.param.yaml"/>
+    <arg name="voxel_grid_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/voxel_grid_filter.param.yaml"/>
+    <arg name="random_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/random_downsample_filter.param.yaml"/>
+    <arg name="ndt_scan_matcher_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ndt_scan_matcher.param.yaml"/>
+    <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
+  </include>
+</launch>
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
index a9d0f1bbd..76260f859 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -13,13 +13,13 @@
   <exec_depend>autoware_api_launch</exec_depend>
   <exec_depend>control_launch</exec_depend>
   <exec_depend>global_parameter_loader</exec_depend>
-  <exec_depend>localization_launch</exec_depend>
   <exec_depend>planning_launch</exec_depend>
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>simulator_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
+  <exec_depend>tier4_localization_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>
   <exec_depend>tier4_perception_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
diff --git a/localization_launch/CMakeLists.txt b/localization_launch/CMakeLists.txt
deleted file mode 100644
index 9815ea4b7..000000000
--- a/localization_launch/CMakeLists.txt
+++ /dev/null
@@ -1,22 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(localization_launch)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)
-endif()
-
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_auto_package(INSTALL_TO_SHARE
-  launch
-  config
-)
diff --git a/localization_launch/README.md b/localization_launch/README.md
deleted file mode 100644
index 959768012..000000000
--- a/localization_launch/README.md
+++ /dev/null
@@ -1,26 +0,0 @@
-# localization_launch
-
-## Structure
-
-![localization_launch](./localization_launch.drawio.svg)
-
-## Package Dependencies
-
-Please see `<exec_depend>` in `package.xml`.
-
-## Usage
-
-You can include as follows in `*.launch.xml` to use `localization.launch.xml`.
-
-```xml
-  <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml">
-  </include>
-```
-
-## Notes
-
-There are some `param.yaml` files in `config` directory.
-
-```bash
-ndt_scan_matcher.param.yaml
-```
diff --git a/localization_launch/launch/localization.launch.xml b/localization_launch/launch/localization.launch.xml
deleted file mode 100644
index 91fbe6ac9..000000000
--- a/localization_launch/launch/localization.launch.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
-  <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"/>
-
-  <!-- localization module -->
-  <group>
-    <push-ros-namespace namespace="localization"/>
-    <!-- util module -->
-    <group>
-      <push-ros-namespace namespace="util"/>
-      <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)" />
-        <arg name="container" value="$(var container)"/>
-      </include>
-    </group>
-    <!-- pose_estimator module -->
-    <group>
-      <push-ros-namespace namespace="pose_estimator"/>
-      <include file="$(find-pkg-share localization_launch)/launch/pose_estimator/pose_estimator.launch.xml">
-      </include>
-    </group>
-    <!-- twist_estimator module -->
-    <group>
-      <push-ros-namespace namespace="twist_estimator"/>
-      <include file="$(find-pkg-share localization_launch)/launch/twist_estimator/twist_estimator.launch.xml">
-      </include>
-    </group>
-    <!-- pose_twist_fusion_filter module -->
-    <group>
-      <push-ros-namespace namespace="pose_twist_fusion_filter"/>
-      <include file="$(find-pkg-share localization_launch)/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml">
-      </include>
-    </group>
-    <!-- localization_error_monitor_module -->
-    <include file="$(find-pkg-share localization_launch)/launch/localization_error_monitor/localization_error_monitor.launch.xml">
-    </include>
-  </group>
-</launch>
diff --git a/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
deleted file mode 100644
index c895da491..000000000
--- a/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
-      <arg name="input/pose_with_cov" value="/localization/kinematic_state"/>
-      <arg name="param_file" value="$(find-pkg-share localization_launch)/config/localization_error_monitor.param.yaml"/>
-    </include>
-</launch>
diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
deleted file mode 100644
index 3273db453..000000000
--- a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
-    <arg name="input_map_points_topic" value="/map/pointcloud_map"/>
-    <arg name="input/pointcloud" value="/localization/util/downsample/pointcloud"/>
-    <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/biased_pose_with_covariance"/>
-
-
-    <arg name="output_pose_topic" value="/localization/pose_estimator/pose"/>
-    <arg name="output_pose_with_covariance_topic" value="/localization/pose_estimator/pose_with_covariance"/>
-
-    <arg name="param_file" value="$(find-pkg-share localization_launch)/config/ndt_scan_matcher.param.yaml" />
-  </include>
-
-</launch>
diff --git a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
deleted file mode 100644
index 3c109769e..000000000
--- a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group>
-    <include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml">
-      <arg name="enable_yaw_bias_estimation" value="true"/>
-      <arg name="tf_rate" value="50.0"/>
-      <arg name="twist_smoothing_steps" value="2"/>
-      <arg name="input_initial_pose_name" value="/initialpose3d"/>
-      <arg name="input_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance"/>
-      <arg name="input_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
-      <arg name="output_odom_name" value="kinematic_state"/>
-      <arg name="output_pose_name" value="pose"/>
-      <arg name="output_pose_with_covariance_name" value="/localization/pose_with_covariance"/>
-      <arg name="output_biased_pose_name" value="biased_pose"/>
-      <arg name="output_biased_pose_with_covariance_name" value="biased_pose_with_covariance"/>
-      <arg name="output_twist_name" value="twist"/>
-      <arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
-      <arg name="proc_stddev_vx_c" value="10.0"/>
-      <arg name="proc_stddev_wz_c" value="5.0"/>
-    </include>
-  </group>
-
-  <group>
-    <include file="$(find-pkg-share stop_filter)/launch/stop_filter.launch.xml">
-      <arg name="use_twist_with_covariance" value="True"/>
-      <arg name="input_odom_name" value="/localization/pose_twist_fusion_filter/kinematic_state"/>
-      <arg name="input_twist_with_covariance_name" value="/localization/pose_twist_fusion_filter/twist_with_covariance"/>
-      <arg name="output_odom_name" value="/localization/kinematic_state"/>
-    </include>
-  </group>
-
-  <group>
-    <include file="$(find-pkg-share twist2accel)/launch/twist2accel.launch.xml">
-      <arg name="use_odom" value="true"/>
-      <arg name="in_odom" value="/localization/kinematic_state"/>
-      <arg name="in_twist" value="/localization/twist_estimator/twist_with_covariance"/>
-      <arg name="out_accel" value="/localization/acceleration"/>
-    </include>
-  </group>
-</launch>
diff --git a/localization_launch/launch/twist_estimator/twist_estimator.launch.xml b/localization_launch/launch/twist_estimator/twist_estimator.launch.xml
deleted file mode 100644
index 155521a0e..000000000
--- a/localization_launch/launch/twist_estimator/twist_estimator.launch.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <include file="$(find-pkg-share gyro_odometer)/launch/gyro_odometer.launch.xml">
-    <arg name="input_vehicle_twist_with_covariance_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
-    <arg name="output_twist_with_covariance_topic" value="/localization/twist_estimator/twist_with_covariance"/>
-    <arg name="output_twist_with_covariance_raw_topic" value="/localization/twist_estimator/twist_with_covariance_raw"/>
-  </include>
-</launch>
diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py
deleted file mode 100644
index 1721ec7d7..000000000
--- a/localization_launch/launch/util/util.launch.py
+++ /dev/null
@@ -1,116 +0,0 @@
-# Copyright 2020 Tier IV, Inc. All rights reserved.
-#
-# 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.
-
-import launch
-from launch.actions import DeclareLaunchArgument
-from launch.actions import OpaqueFunction
-from launch.conditions import LaunchConfigurationNotEquals
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-from launch_ros.substitutions import FindPackageShare
-import yaml
-
-
-def launch_setup(context, *args, **kwargs):
-    # https://github.com/ros2/launch_ros/issues/156
-    def load_composable_node_param(param_path):
-        with open(LaunchConfiguration(param_path).perform(context), "r") as f:
-            return yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    crop_box_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="crop_box_filter_measurement_range",
-        remappings=[
-            ("input", LaunchConfiguration("input/pointcloud")),
-            ("output", "measurement_range/pointcloud"),
-        ],
-        parameters=[
-            load_composable_node_param("crop_box_filter_measurement_range_param_path"),
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-    voxel_grid_downsample_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
-        name="voxel_grid_downsample_filter",
-        remappings=[
-            ("input", "measurement_range/pointcloud"),
-            ("output", "voxel_grid_downsample/pointcloud"),
-        ],
-        parameters=[load_composable_node_param("voxel_grid_downsample_filter_param_path")],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-    random_downsample_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent",
-        name="random_downsample_filter",
-        remappings=[
-            ("input", "voxel_grid_downsample/pointcloud"),
-            ("output", LaunchConfiguration("output/pointcloud")),
-        ],
-        parameters=[load_composable_node_param("random_downsample_filter_param_path")],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    composable_nodes = [
-        crop_box_component,
-        voxel_grid_downsample_component,
-        random_downsample_component,
-    ]
-
-    load_composable_nodes = LoadComposableNodes(
-        condition=LaunchConfigurationNotEquals("container", ""),
-        composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container"),
-    )
-
-    return [load_composable_nodes]
-
-
-def generate_launch_description():
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None, description=None):
-        arg = DeclareLaunchArgument(name, default_value=default_value, description=description)
-        launch_arguments.append(arg)
-
-    add_launch_arg(
-        "crop_box_filter_measurement_range_param_path",
-        [
-            FindPackageShare("localization_launch"),
-            "/config/crop_box_filter_measurement_range.param.yaml",
-        ],
-        "path to the parameter file of crop_box_filter_measurement_range",
-    )
-    add_launch_arg(
-        "voxel_grid_downsample_filter_param_path",
-        [FindPackageShare("localization_launch"), "/config/voxel_grid_filter.param.yaml"],
-        "path to the parameter file of voxel_grid_downsample_filter",
-    )
-    add_launch_arg(
-        "random_downsample_filter_param_path",
-        [FindPackageShare("localization_launch"), "/config/random_downsample_filter.param.yaml"],
-        "path to the parameter file of random_downsample_filter",
-    )
-    add_launch_arg("use_intra_process", "true", "use ROS2 component container communication")
-
-    add_launch_arg(
-        "output/pointcloud",
-        "downsample/pointcloud",
-        "final output topic name",
-    )
-
-    return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])
diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml
deleted file mode 100644
index 783eee8ad..000000000
--- a/localization_launch/launch/util/util.launch.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <arg name="input/pointcloud" description="input topic name"/>
-  <arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
-  <arg name="container" description="container name which input topic belongs"/>
-  <arg name="use_intra_process" default="true" description="use ROS2 component container communication"/>
-
-  <!-- pose_initializer -->
-  <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
-    <arg name="gnss_enabled" value="true"/>
-    <arg name="ndt_enabled" value="true"/>
-    <arg name="stop_check_enabled" value="true"/>
-  </include>
-  <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
-
-  <!-- util -->
-  <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.py">
-    <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-    <arg name="output/pointcloud" value="$(var output/pointcloud)"/>
-    <arg name="container" value="$(var container)"/>
-    <arg name="use_intra_process" value="$(var use_intra_process)"/>
-  </include>
-
-</launch>
diff --git a/localization_launch/localization_launch.drawio.svg b/localization_launch/localization_launch.drawio.svg
deleted file mode 100644
index 1bde30243..000000000
--- a/localization_launch/localization_launch.drawio.svg
+++ /dev/null
@@ -1,530 +0,0 @@
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-                                    <span>
-                                        input: /localization/pose_twist_fusion_filter/twist
-                                    </span>
-                                </div>
-                                <div style="text-align: left">
-                                    <span>
-                                        output: /localization/twist
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="370" y="704" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    relay...
-                </text>
-            </switch>
-        </g>
-        <path d="M 180 220 L 190 220 Q 200 220 200 230 L 200 690 Q 200 700 210 700 L 228.63 700" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
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-                            <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; ">
-                                ndt_scan_matcher.launch.xml
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: ndt_scan_matcher
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="645" y="224" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    ndt_scan_matcher.launch.xml...
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-            </switch>
-        </g>
-        <path d="M 499.87 220 L 533.63 220" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
-        <path d="M 538.88 220 L 531.88 223.5 L 533.63 220 L 531.88 216.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/>
-        <rect x="540" y="290" width="210" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/>
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-                    <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: 340px; margin-left: 541px;">
-                        <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; ">
-                                gyro_odometer.launch.xml
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: gyro_odometer
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="645" y="344" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    gyro_odometer.launch.xml...
-                </text>
-            </switch>
-        </g>
-        <path d="M 505 340 L 533.63 340" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
-        <path d="M 538.88 340 L 531.88 343.5 L 533.63 340 L 531.88 336.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/>
-        <rect x="540" y="410" width="210" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/>
-        <g transform="translate(-0.5 -0.5)">
-            <switch>
-                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                    <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: 460px; margin-left: 541px;">
-                        <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; ">
-                                ekf_localizer.launch.xml
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: ekf_localizer
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="645" y="464" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    ekf_localizer.launch.xml...
-                </text>
-            </switch>
-        </g>
-        <path d="M 505 460 L 525 460 L 520 460 L 533.63 460" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
-        <path d="M 538.88 460 L 531.88 463.5 L 533.63 460 L 531.88 456.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/>
-        <rect x="550" y="770" width="210" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/>
-        <g transform="translate(-0.5 -0.5)">
-            <switch>
-                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                    <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: 820px; margin-left: 551px;">
-                        <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; ">
-                                pose_initializer.launch.xml
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: pose_initializer
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="655" y="824" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    pose_initializer.launch.xml...
-                </text>
-            </switch>
-        </g>
-        <rect x="550" y="890" width="210" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/>
-        <g transform="translate(-0.5 -0.5)">
-            <switch>
-                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                    <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: 940px; margin-left: 551px;">
-                        <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; ">
-                                util.launch.py
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: localization_launch
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="655" y="944" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    util.launch.py...
-                </text>
-            </switch>
-        </g>
-        <path d="M 505 820 L 512.5 820 Q 520 820 520 830 L 520 930 Q 520 940 530 940 L 543.63 940" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
-        <path d="M 548.88 940 L 541.88 943.5 L 543.63 940 L 541.88 936.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/>
-        <rect x="810" y="960" width="220" height="100" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/>
-        <g transform="translate(-0.5 -0.5)">
-            <switch>
-                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 218px; height: 1px; padding-top: 1010px; margin-left: 811px;">
-                        <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; ">
-                                crop_box_measurement_range
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: pointcloud_preprocessor
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="920" y="1014" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    crop_box_measurement_range...
-                </text>
-            </switch>
-        </g>
-        <rect x="1050" y="960" width="220" height="100" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/>
-        <g transform="translate(-0.5 -0.5)">
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-                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 218px; height: 1px; padding-top: 1010px; margin-left: 1051px;">
-                        <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; ">
-                                voxel_grid_downsample_filter
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: pointcloud_preprocessor
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="1160" y="1014" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    voxel_grid_downsample_filter...
-                </text>
-            </switch>
-        </g>
-        <rect x="810" y="1080" width="220" height="100" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/>
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-            <switch>
-                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 218px; height: 1px; padding-top: 1130px; margin-left: 811px;">
-                        <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; ">
-                                random_downsample_filter
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: pointcloud_preprocessor
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="920" y="1134" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    random_downsample_filter...
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-            </switch>
-        </g>
-        <path d="M 760 940 L 780.63 940" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
-        <path d="M 785.88 940 L 778.88 943.5 L 780.63 940 L 778.88 936.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/>
-    </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/localization_launch/package.xml b/localization_launch/package.xml
deleted file mode 100644
index c61aaeed7..000000000
--- a/localization_launch/package.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>localization_launch</name>
-  <version>0.1.0</version>
-  <description>The localization_launch package</description>
-
-  <maintainer email="yamato.ando@gmail.com">Yamato Ando</maintainer>
-
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <exec_depend>automatic_pose_initializer</exec_depend>
-  <exec_depend>ekf_localizer</exec_depend>
-  <exec_depend>gyro_odometer</exec_depend>
-  <exec_depend>ndt_scan_matcher</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
-  <exec_depend>pose_initializer</exec_depend>
-  <exec_depend>topic_tools</exec_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>autoware_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>