diff --git a/.github/workflows/sync-awf-autoware-launch.yaml b/.github/workflows/sync-awf-autoware-launch.yaml
new file mode 100644
index 0000000000..3bf43c6c21
--- /dev/null
+++ b/.github/workflows/sync-awf-autoware-launch.yaml
@@ -0,0 +1,31 @@
+name: sync-awf-autoware-launch
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-awf-latest:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: awf-latest
+          sync-pr-branch: sync-awf-autoware-launch
+          sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+          sync-target-branch: main
+          pr-title: "chore: sync awf/autoware_launch"
+          pr-labels: |
+            bot
+            sync-awf-autoware-launch
+          auto-merge-method: merge
diff --git a/.vscode/settings.json b/.vscode/settings.json
deleted file mode 100644
index 9115dba3ac..0000000000
--- a/.vscode/settings.json
+++ /dev/null
@@ -1,102 +0,0 @@
-{
-    "python.autoComplete.extraPaths": [
-        "/home/kimura/git/pilot-auto.xx1.new/install/velodyne_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/operation_mode_transition_manager/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/control_performance_analysis/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/ublox_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_vehicle_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_v2x_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/build/foa_quick/src",
-        "/home/kimura/git/pilot-auto.xx1.new/install/foa_quick/lib/python3.10/site-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_api_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_system_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_simulation_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_rtc_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/planning_debug_tools/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_planning_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/dummy_perception_publisher/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_perception_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_localization_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_hmi_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_external_api_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_external_api_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_debug_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_control_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/build/simulator_compatibility_test",
-        "/home/kimura/git/pilot-auto.xx1.new/install/simulator_compatibility_test/lib/python3.10/site-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/morai_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/livox_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/grid_map_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/foa_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/build/foa_hazard_monitor/src",
-        "/home/kimura/git/pilot-auto.xx1.new/install/foa_hazard_monitor/lib/python3.10/site-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/diagnostic_updater/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/diagnostic_aggregator/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_sensing_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_planning_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_localization_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_control_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_common_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_vehicle_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_system_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_planning_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_perception_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_mapping_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_geometry_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_control_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_adapi_version_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_adapi_v1_msgs/local/lib/python3.10/dist-packages",
-        "/opt/ros/humble/lib/python3.10/site-packages",
-        "/opt/ros/humble/local/lib/python3.10/dist-packages"
-    ],
-    "python.analysis.extraPaths": [
-        "/home/kimura/git/pilot-auto.xx1.new/install/velodyne_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/operation_mode_transition_manager/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/control_performance_analysis/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/ublox_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_vehicle_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_v2x_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/build/foa_quick/src",
-        "/home/kimura/git/pilot-auto.xx1.new/install/foa_quick/lib/python3.10/site-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_api_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_system_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_simulation_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_rtc_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/planning_debug_tools/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_planning_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/dummy_perception_publisher/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_perception_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_localization_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_hmi_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_external_api_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_external_api_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_debug_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/tier4_control_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/build/simulator_compatibility_test",
-        "/home/kimura/git/pilot-auto.xx1.new/install/simulator_compatibility_test/lib/python3.10/site-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/morai_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/livox_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/grid_map_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/foa_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/build/foa_hazard_monitor/src",
-        "/home/kimura/git/pilot-auto.xx1.new/install/foa_hazard_monitor/lib/python3.10/site-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/diagnostic_updater/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/diagnostic_aggregator/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_sensing_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_planning_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_localization_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_control_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_common_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_vehicle_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_system_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_planning_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_perception_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_mapping_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_geometry_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_auto_control_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_adapi_version_msgs/local/lib/python3.10/dist-packages",
-        "/home/kimura/git/pilot-auto.xx1.new/install/autoware_adapi_v1_msgs/local/lib/python3.10/dist-packages",
-        "/opt/ros/humble/lib/python3.10/site-packages",
-        "/opt/ros/humble/local/lib/python3.10/dist-packages"
-    ]
-}
\ No newline at end of file
diff --git a/README.md b/README.md
index c88abfc7f8..dc6f607866 100644
--- a/README.md
+++ b/README.md
@@ -19,7 +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)
-- [perception_launch](./perception_launch)
 - [planning_launch](./planning_launch)
 - [system_launch](./system_launch)
diff --git a/autoware_api_launch/CMakeLists.txt b/autoware_api_launch/CMakeLists.txt
deleted file mode 100644
index 37c18e108f..0000000000
--- a/autoware_api_launch/CMakeLists.txt
+++ /dev/null
@@ -1,12 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(autoware_api_launch)
-
-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)
diff --git a/autoware_api_launch/launch/autoware_api.launch.xml b/autoware_api_launch/launch/autoware_api.launch.xml
deleted file mode 100644
index 509e0c4f9c..0000000000
--- a/autoware_api_launch/launch/autoware_api.launch.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<launch>
-
-  <arg name="respawn" default="true" />
-  <arg name="launch_default_ad_api" default="true"/>
-  <arg name="max_message_size" default="1000000000" />
-
-  <!-- AD API -->
-  <group if="$(var launch_default_ad_api)">
-    <include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py"/>
-  </group>
-
-  <!-- awapi (deprecated) -->
-  <group>
-    <include file="$(find-pkg-share awapi_awiv_adapter)/launch/awapi_awiv_adapter.launch.xml"/>
-  </group>
-
-  <!-- autoware api adaptor -->
-  <group>
-    <push-ros-namespace namespace="autoware_api"/>
-    <include file="$(find-pkg-share autoware_api_launch)/launch/include/external_api_adaptor.launch.py"/>
-    <include file="$(find-pkg-share autoware_api_launch)/launch/include/internal_api_adaptor.launch.py"/>
-    <include file="$(find-pkg-share autoware_api_launch)/launch/include/internal_api_relay.launch.xml"/>
-  </group>
-
-  <!-- autoware api utils -->
-  <group>
-    <push-ros-namespace namespace="autoware_api/utils"/>
-    <include file="$(find-pkg-share path_distance_calculator)/launch/path_distance_calculator.launch.xml"/>
-  </group>
-
-  <!-- rosbridge -->
-  <!-- TODO: respawn will work once https://github.com/ros2/launch/pull/569 is released. I'll delete this comment when it's done. -->
-  <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
-      <arg name="respawn" value="$(var respawn)"/>
-      <arg name="max_message_size" value="$(var max_message_size)"/>
-  </include>
-
-</launch>
diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py
deleted file mode 100644
index 3aafd3d1bb..0000000000
--- a/autoware_api_launch/launch/include/external_api_adaptor.launch.py
+++ /dev/null
@@ -1,60 +0,0 @@
-# Copyright 2021 Tier IV, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import launch
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.descriptions import ComposableNode
-
-
-def _create_api_node(node_name, class_name, **kwargs):
-    return ComposableNode(
-        namespace="external",
-        name=node_name,
-        package="autoware_iv_external_api_adaptor",
-        plugin="external_api::" + class_name,
-        **kwargs
-    )
-
-
-def generate_launch_description():
-    components = [
-        _create_api_node("calibration_status", "CalibrationStatus"),
-        _create_api_node("cpu_usage", "CpuUsage"),
-        _create_api_node("diagnostics", "Diagnostics"),
-        _create_api_node("door", "Door"),
-        _create_api_node("emergency", "Emergency"),
-        _create_api_node("engage", "Engage"),
-        _create_api_node("fail_safe_state", "FailSafeState"),
-        _create_api_node("initial_pose", "InitialPose"),
-        _create_api_node("localization_score", "LocalizationScore"),
-        _create_api_node("map", "Map"),
-        _create_api_node("operator", "Operator"),
-        _create_api_node("metadata_packages", "MetadataPackages"),
-        _create_api_node("route", "Route"),
-        _create_api_node("rtc_controller", "RTCController"),
-        _create_api_node("service", "Service"),
-        _create_api_node("start", "Start"),
-        _create_api_node("vehicle_status", "VehicleStatus"),
-        _create_api_node("velocity", "Velocity"),
-        _create_api_node("version", "Version"),
-    ]
-    container = ComposableNodeContainer(
-        namespace="external",
-        name="autoware_iv_adaptor",
-        package="rclcpp_components",
-        executable="component_container_mt",
-        composable_node_descriptions=components,
-        output="screen",
-    )
-    return launch.LaunchDescription([container])
diff --git a/autoware_api_launch/launch/include/internal_api_adaptor.launch.py b/autoware_api_launch/launch/include/internal_api_adaptor.launch.py
deleted file mode 100644
index f1962908c8..0000000000
--- a/autoware_api_launch/launch/include/internal_api_adaptor.launch.py
+++ /dev/null
@@ -1,44 +0,0 @@
-# Copyright 2021 Tier IV, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import launch
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.descriptions import ComposableNode
-
-
-def _create_api_node(node_name, class_name, **kwargs):
-    return ComposableNode(
-        namespace="internal",
-        name=node_name,
-        package="autoware_iv_internal_api_adaptor",
-        plugin="internal_api::" + class_name,
-        **kwargs
-    )
-
-
-def generate_launch_description():
-    components = [
-        _create_api_node("iv_msgs", "IVMsgs"),
-        _create_api_node("operator", "Operator"),
-        _create_api_node("velocity", "Velocity"),
-    ]
-    container = ComposableNodeContainer(
-        namespace="internal",
-        name="autoware_iv_adaptor",
-        package="rclcpp_components",
-        executable="component_container_mt",
-        composable_node_descriptions=components,
-        output="screen",
-    )
-    return launch.LaunchDescription([container])
diff --git a/autoware_api_launch/launch/include/internal_api_relay.launch.xml b/autoware_api_launch/launch/include/internal_api_relay.launch.xml
deleted file mode 100644
index e850fb3dc4..0000000000
--- a/autoware_api_launch/launch/include/internal_api_relay.launch.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<launch>
-  <group>
-    <push-ros-namespace namespace="internal"/>
-    <node pkg="topic_tools" exec="relay" name="traffic_signals">
-      <param name="input_topic" value="/api/autoware/set/traffic_signals"/>
-      <param name="output_topic" value="/external/traffic_light_recognition/traffic_signals"/>
-      <param name="type" value="autoware_auto_perception_msgs/msg/TrafficSignalArray"/>
-    </node>
-    <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="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="tier4_api_msgs/msg/CrosswalkStatus"/>
-    </node>
-  </group>
-</launch>
diff --git a/autoware_api_launch/package.xml b/autoware_api_launch/package.xml
deleted file mode 100644
index ef6f3e838a..0000000000
--- a/autoware_api_launch/package.xml
+++ /dev/null
@@ -1,26 +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>autoware_api_launch</name>
-  <version>0.0.0</version>
-  <description>The autoware_api_launch package</description>
-  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <exec_depend>autoware_iv_external_api_adaptor</exec_depend>
-  <exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
-  <exec_depend>awapi_awiv_adapter</exec_depend>
-  <exec_depend>default_ad_api</exec_depend>
-  <exec_depend>path_distance_calculator</exec_depend>
-  <exec_depend>rosbridge_server</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>
diff --git a/autoware_launch/CMakeLists.txt b/autoware_launch/CMakeLists.txt
index 60e4e952cb..e7a67c79a1 100644
--- a/autoware_launch/CMakeLists.txt
+++ b/autoware_launch/CMakeLists.txt
@@ -11,6 +11,7 @@ endif()
 
 ament_auto_package(
   INSTALL_TO_SHARE
+  config
   launch
   rviz
 )
diff --git a/control_launch/config/common/nearest_search.param.yaml b/autoware_launch/config/control/common/nearest_search.param.yaml
similarity index 100%
rename from control_launch/config/common/nearest_search.param.yaml
rename to autoware_launch/config/control/common/nearest_search.param.yaml
diff --git a/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml b/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml
new file mode 100644
index 0000000000..6556656cc8
--- /dev/null
+++ b/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    update_rate: 10.0
+    initial_selector_mode: "local" # ["local", "remote"]
diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
new file mode 100644
index 0000000000..092a6765aa
--- /dev/null
+++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # Node
+    update_rate: 10.0
+    visualize_lanelet: false
+
+    # Core
+    footprint_margin_scale: 1.0
+    resample_interval: 0.3
+    max_deceleration: 2.8
+    delay_time: 1.3
+    max_lateral_deviation: 2.0
+    max_longitudinal_deviation: 2.0
+    max_yaw_deviation_deg: 60.0
+    delta_yaw_threshold_for_closest_point: 1.570 #M_PI/2.0, delta yaw thres for closest point
diff --git a/autoware_launch/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml b/autoware_launch/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml
new file mode 100644
index 0000000000..e3c78c90e2
--- /dev/null
+++ b/autoware_launch/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    # Node
+    update_rate: 10.0
+
+    # Core
+    delay_time: 0.03 # delay time of vehicle [s]
+    footprint_margin: 0.0 # margin for footprint [m]
+    max_deceleration: 1.5 # max deceleration [m/ss]
+    resample_interval: 0.3 # interval distance to resample point cloud [m]
+    search_radius: 5.0 # search distance from trajectory to point cloud [m]
diff --git a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
similarity index 100%
rename from control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
rename to autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
diff --git a/control_launch/config/shift_decider/shift_decider.param.yaml b/autoware_launch/config/control/shift_decider/shift_decider.param.yaml
similarity index 100%
rename from control_launch/config/shift_decider/shift_decider.param.yaml
rename to autoware_launch/config/control/shift_decider/shift_decider.param.yaml
diff --git a/control_launch/config/trajectory_follower/1/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/1/lateral/mpc.param.yaml
rename to autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml
diff --git a/control_launch/config/trajectory_follower/1/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/1/longitudinal/pid.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/1/longitudinal/pid.param.yaml
rename to autoware_launch/config/control/trajectory_follower/1/longitudinal/pid.param.yaml
diff --git a/control_launch/config/trajectory_follower/10/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/10/lateral/mpc.param.yaml
rename to autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml
diff --git a/control_launch/config/trajectory_follower/10/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/10/longitudinal/pid.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/10/longitudinal/pid.param.yaml
rename to autoware_launch/config/control/trajectory_follower/10/longitudinal/pid.param.yaml
diff --git a/control_launch/config/trajectory_follower/2/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/2/lateral/mpc.param.yaml
rename to autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml
diff --git a/control_launch/config/trajectory_follower/2/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/2/longitudinal/pid.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/2/longitudinal/pid.param.yaml
rename to autoware_launch/config/control/trajectory_follower/2/longitudinal/pid.param.yaml
diff --git a/control_launch/config/trajectory_follower/3/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/3/lateral/mpc.param.yaml
rename to autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml
diff --git a/control_launch/config/trajectory_follower/3/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/3/longitudinal/pid.param.yaml
rename to autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml
diff --git a/control_launch/config/trajectory_follower/4/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/4/lateral/mpc.param.yaml
rename to autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml
diff --git a/control_launch/config/trajectory_follower/4/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/4/longitudinal/pid.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/4/longitudinal/pid.param.yaml
rename to autoware_launch/config/control/trajectory_follower/4/longitudinal/pid.param.yaml
diff --git a/control_launch/config/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/5/lateral/mpc.param.yaml
rename to autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
diff --git a/control_launch/config/trajectory_follower/5/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/5/longitudinal/pid.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/5/longitudinal/pid.param.yaml
rename to autoware_launch/config/control/trajectory_follower/5/longitudinal/pid.param.yaml
diff --git a/control_launch/config/trajectory_follower/6/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/6/lateral/mpc.param.yaml
rename to autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml
diff --git a/control_launch/config/trajectory_follower/6/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/6/longitudinal/pid.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/6/longitudinal/pid.param.yaml
rename to autoware_launch/config/control/trajectory_follower/6/longitudinal/pid.param.yaml
diff --git a/control_launch/config/trajectory_follower/7/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/7/lateral/mpc.param.yaml
rename to autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml
diff --git a/control_launch/config/trajectory_follower/7/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/7/longitudinal/pid.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/7/longitudinal/pid.param.yaml
rename to autoware_launch/config/control/trajectory_follower/7/longitudinal/pid.param.yaml
diff --git a/control_launch/config/trajectory_follower/9/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/9/lateral/mpc.param.yaml
rename to autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml
diff --git a/control_launch/config/trajectory_follower/9/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/9/longitudinal/pid.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/9/longitudinal/pid.param.yaml
rename to autoware_launch/config/control/trajectory_follower/9/longitudinal/pid.param.yaml
diff --git a/control_launch/config/trajectory_follower/default/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/default/lateral/mpc.param.yaml
rename to autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
diff --git a/control_launch/config/trajectory_follower/default/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/default/longitudinal/pid.param.yaml
rename to autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml
diff --git a/control_launch/config/trajectory_follower/trajectory_follower_node.param.yaml b/autoware_launch/config/control/trajectory_follower/trajectory_follower_node.param.yaml
similarity index 100%
rename from control_launch/config/trajectory_follower/trajectory_follower_node.param.yaml
rename to autoware_launch/config/control/trajectory_follower/trajectory_follower_node.param.yaml
diff --git a/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
similarity index 84%
rename from control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
rename to autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index 351ad877e1..1a1d807858 100644
--- a/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -2,6 +2,9 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
+    use_emergency_handling: false
+    check_external_emergency_heartbeat: false
+    use_start_request: false
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4
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/perception_launch/config/object_recognition/detection/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml
similarity index 100%
rename from perception_launch/config/object_recognition/detection/object_lanelet_filter.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml
diff --git a/perception_launch/config/object_recognition/detection/object_position_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_position_filter.param.yaml
similarity index 100%
rename from perception_launch/config/object_recognition/detection/object_position_filter.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/object_position_filter.param.yaml
diff --git a/perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml
similarity index 100%
rename from perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml
diff --git a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
similarity index 100%
rename from perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
rename to autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
diff --git a/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml
similarity index 100%
rename from perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml
rename to autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml
diff --git a/perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
similarity index 100%
rename from perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
rename to autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
diff --git a/planning_launch/config/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/common/common.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/common.param.yaml
diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml
diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml
diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/L2.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/common/motion_velocity_smoother/L2.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml
diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml
diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
similarity index 97%
rename from planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
index 7f90e07b40..9534a87fc5 100644
--- a/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -9,7 +9,7 @@
 
     # curve parameters
     max_lateral_accel: 1.0             # max lateral acceleration limit [m/ss]
-    min_curve_velocity: 2.74           # min velocity at lateral acceleration limit [m/ss]
+    min_curve_velocity: 2.74            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
     decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
     min_decel_for_lateral_acc_lim_filter: -2.5  # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
diff --git a/planning_launch/config/scenario_planning/common/nearest_search.param.yaml b/autoware_launch/config/planning/scenario_planning/common/nearest_search.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/common/nearest_search.param.yaml
rename to autoware_launch/config/planning/scenario_planning/common/nearest_search.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml
new file mode 100644
index 0000000000..658a968906
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml
@@ -0,0 +1,28 @@
+/**:
+  ros__parameters:
+    # Operation option when invalid trajectory is detected
+    #  0: publish the trajectory even if it is invalid
+    #  1: stop publishing the trajectory
+    #  2: publish the last validated trajectory
+    invalid_trajectory_handling_type: 0
+
+    publish_diag: true  # if true, diagnostic msg is published
+
+    # If the number of consecutive invalid trajectory exceeds this threshold, the Diag will be set to ERROR.
+    # (For example, threshold = 1 means, even if the trajectory is invalid, Diag will not be ERROR if
+    #  the next trajectory is valid.)
+    diag_error_count_threshold: 0
+
+    display_on_terminal: true # show error msg on terminal
+
+    thresholds:
+      interval: 100.0
+      relative_angle: 2.0  # (= 115 degree)
+      curvature: 1.0
+      lateral_acc: 9.8
+      longitudinal_max_acc: 9.8
+      longitudinal_min_acc: -9.8
+      steering: 1.414
+      steering_rate: 10.0
+      velocity_deviation: 100.0
+      distance_deviation: 100.0
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
similarity index 94%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index e34fa49cba..7a6bd05976 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    planning_hz: 10.0
     backward_path_length: 5.0
     forward_path_length: 300.0
     backward_length_buffer_for_end_of_pull_over: 5.0
@@ -14,6 +15,7 @@
     turn_signal_minimum_search_distance: 10.0
     turn_signal_search_time: 3.0
     turn_signal_shift_length_threshold: 0.3
+    turn_signal_on_swerving: true
 
     path_interval: 2.0
 
@@ -21,6 +23,7 @@
 
     lateral_distance_max_threshold: 2.0
     longitudinal_distance_min_threshold: 3.0
+
     expected_front_deceleration: -1.0
     expected_rear_deceleration: -1.0
 
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml
new file mode 100644
index 0000000000..748b70b33f
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml
@@ -0,0 +1,94 @@
+<?xml version="1.0"?>
+<root main_tree_to_execute="BehaviorTree">
+    <!-- ////////// -->
+    <BehaviorTree ID="BehaviorTree">
+        <Fallback>
+            <ReactiveSequence>
+                <Condition ID="PullOver_Request"/>
+                <Action ID="PullOver_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="PullOut_Request"/>
+                <Action ID="PullOut_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="SideShift_Request"/>
+                <Action ID="SideShift_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="LaneChange_Request"/>
+                <Action ID="LaneChange_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="Avoidance_Request"/>
+                <Action ID="Avoidance_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <Action ID="LaneFollowing_Plan" output="{output}"/>
+        </Fallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <BehaviorTree ID="a">
+        <ReactiveFallback>
+            <Condition ID="LaneChange_CheckApproval"/>
+            <KeepRunningUntilFailure>
+                <Action ID="LaneChange_PlanCandidate" output="{output}"/>
+            </KeepRunningUntilFailure>
+        </ReactiveFallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <BehaviorTree ID="b">
+        <ReactiveFallback>
+            <Condition ID="Avoidance_CheckApproval"/>
+            <KeepRunningUntilFailure>
+                <Action ID="Avoidance_PlanCandidate" output="{output}"/>
+            </KeepRunningUntilFailure>
+        </ReactiveFallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <TreeNodesModel>
+        <Condition ID="Avoidance_CheckApproval"/>
+        <Action ID="Avoidance_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Action ID="Avoidance_PlanCandidate">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="Avoidance_Request"/>
+        <Condition ID="ExternalApproval"/>
+        <Condition ID="LaneChange_CheckApproval"/>
+        <Action ID="LaneChange_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Action ID="LaneChange_PlanCandidate">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="LaneChange_Request"/>
+        <Action ID="LaneFollowing_Plan">
+            <output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
+        </Action>
+        <Action ID="LaneFollowing_PlanCandidate">
+            <output_port name="output_candidate" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
+        </Action>
+        <Condition ID="LaneFollowing_Request"/>
+        <Action ID="PullOut_Plan">
+            <output_port name="output"/>
+        </Action>
+        <Condition ID="PullOut_Request"/>
+        <Action ID="PullOver_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="PullOver_Request"/>
+        <Condition ID="SideShift_CheckApproval"/>
+        <Action ID="SideShift_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Action ID="SideShift_PlanCandidate">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="SideShift_Request"/>
+        <SubTree ID="SubTree"/>
+        <SubTree ID="a"/>
+        <SubTree ID="b"/>
+    </TreeNodesModel>
+    <!-- ////////// -->
+</root>
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml
new file mode 100644
index 0000000000..5c4d2b589d
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml
@@ -0,0 +1,86 @@
+<?xml version="1.0"?>
+<root main_tree_to_execute="BehaviorTree">
+    <!-- ////////// -->
+    <BehaviorTree ID="BehaviorTree">
+        <Fallback>
+            <ReactiveSequence>
+                <Condition ID="PullOver_Request"/>
+                <Action ID="PullOver_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="PullOut_Request"/>
+                <Action ID="PullOut_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="LaneChange_Request"/>
+                <Action ID="LaneChange_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <Action ID="LaneFollowing_Plan" output="{output}"/>
+        </Fallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <BehaviorTree ID="a">
+        <ReactiveFallback>
+            <Condition ID="LaneChange_CheckApproval"/>
+            <KeepRunningUntilFailure>
+                <Action ID="LaneChange_PlanCandidate" output="{output}"/>
+            </KeepRunningUntilFailure>
+        </ReactiveFallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <BehaviorTree ID="b">
+        <ReactiveFallback>
+            <Condition ID="Avoidance_CheckApproval"/>
+            <KeepRunningUntilFailure>
+                <Action ID="Avoidance_PlanCandidate" output="{output}"/>
+            </KeepRunningUntilFailure>
+        </ReactiveFallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <TreeNodesModel>
+        <Condition ID="Avoidance_CheckApproval"/>
+        <Action ID="Avoidance_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Action ID="Avoidance_PlanCandidate">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="Avoidance_Request"/>
+        <Condition ID="ExternalApproval"/>
+        <Condition ID="LaneChange_CheckApproval"/>
+        <Action ID="LaneChange_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Action ID="LaneChange_PlanCandidate">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="LaneChange_Request"/>
+        <Action ID="LaneFollowing_Plan">
+            <output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
+        </Action>
+        <Action ID="LaneFollowing_PlanCandidate">
+            <output_port name="output_candidate" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
+        </Action>
+        <Condition ID="LaneFollowing_Request"/>
+        <Action ID="PullOut_Plan">
+            <output_port name="output"/>
+        </Action>
+        <Condition ID="PullOut_Request"/>
+        <Action ID="PullOver_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="PullOver_Request"/>
+        <Condition ID="SideShift_CheckApproval"/>
+        <Action ID="SideShift_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Action ID="SideShift_PlanCandidate">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="SideShift_Request"/>
+        <SubTree ID="SubTree"/>
+        <SubTree ID="a"/>
+        <SubTree ID="b"/>
+    </TreeNodesModel>
+    <!-- ////////// -->
+</root>
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml
new file mode 100644
index 0000000000..e5876e9287
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml
@@ -0,0 +1,100 @@
+<?xml version="1.0"?>
+<root main_tree_to_execute="BehaviorTree">
+    <!-- ////////// -->
+    <BehaviorTree ID="BehaviorTree">
+        <Fallback>
+            <ReactiveSequence>
+                <Condition ID="PullOver_Request"/>
+                <Condition ID="PullOver_Ready"/>
+                <Action ID="PullOver_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="PullOut_Request"/>
+                <Condition ID="PullOut_Ready"/>
+                <Action ID="PullOut_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="LaneChange_Request"/>
+                <Fallback>
+                    <Condition ID="LaneChange_Ready"/>
+                    <Condition ID="ForceLaneChange_ForceApproval"/>
+                </Fallback>
+                <Action ID="LaneChange_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <Action ID="LaneFollowing_Plan" output="{output}"/>
+        </Fallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <BehaviorTree ID="a">
+        <ReactiveFallback>
+            <Condition ID="LaneChange_CheckApproval"/>
+            <KeepRunningUntilFailure>
+                <Action ID="LaneChange_PlanCandidate" output="{output}"/>
+            </KeepRunningUntilFailure>
+        </ReactiveFallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <BehaviorTree ID="b">
+        <ReactiveFallback>
+            <Condition ID="Avoidance_CheckApproval"/>
+            <KeepRunningUntilFailure>
+                <Action ID="Avoidance_PlanCandidate" output="{output}"/>
+            </KeepRunningUntilFailure>
+        </ReactiveFallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <TreeNodesModel>
+        <Condition ID="Avoidance_CheckApproval"/>
+        <Action ID="Avoidance_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Action ID="Avoidance_PlanCandidate">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="Avoidance_Ready"/>
+        <Condition ID="Avoidance_Request"/>
+        <Condition ID="ExternalApproval"/>
+        <Condition ID="ForceApproval"/>
+        <Condition ID="ForceLaneChange_ForceApproval"/>
+        <Condition ID="LaneChange_CheckApproval"/>
+        <Action ID="LaneChange_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Action ID="LaneChange_PlanCandidate">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="LaneChange_Ready"/>
+        <Condition ID="LaneChange_Request"/>
+        <Action ID="LaneFollowing_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Action ID="LaneFollowing_PlanCandidate">
+            <output_port name="output_candidate" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
+        </Action>
+        <Condition ID="LaneFollowing_Ready"/>
+        <Condition ID="LaneFollowing_Request"/>
+        <Action ID="PullOut_Plan">
+            <output_port name="output"/>
+        </Action>
+        <Condition ID="PullOut_Ready"/>
+        <Condition ID="PullOut_Request"/>
+        <Action ID="PullOver_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="PullOver_Ready"/>
+        <Condition ID="PullOver_Request"/>
+        <Condition ID="SideShift_CheckApproval"/>
+        <Action ID="SideShift_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Action ID="SideShift_PlanCandidate">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="SideShift_Ready"/>
+        <Condition ID="SideShift_Request"/>
+        <SubTree ID="SubTree"/>
+        <SubTree ID="a"/>
+        <SubTree ID="b"/>
+    </TreeNodesModel>
+    <!-- ////////// -->
+</root>
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
similarity index 68%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
index 660a4d2af0..29d577a7ad 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -3,18 +3,24 @@
     avoidance:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
     lane_change:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
     lane_following:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
     pull_out:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
     pull_over:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
     side_shift:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
similarity index 85%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 8bd0e8e74c..48eee8cbab 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -5,9 +5,9 @@
       lane_changing_safety_check_duration: 8.0  # [s]
 
       minimum_lane_change_prepare_distance: 2.0 # [m]
-      minimum_lane_change_length: 16.5
-      backward_length_buffer_for_end_of_lane: 2.0
-      lane_change_finish_judge_buffer: 3.0      # [m]
+      minimum_lane_change_length: 16.5          # [m]
+      backward_length_buffer_for_end_of_lane: 3.0 # [m]
+      lane_change_finish_judge_buffer: 2.0      # [m]
 
       lane_changing_lateral_jerk: 0.5           # [m/s3]
       lane_changing_lateral_acc: 0.5            # [m/s2]
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
similarity index 89%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
index b092eb7fc8..68000747b7 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
@@ -16,6 +16,7 @@
       deceleration_interval: 15.0
       # geometric pull out
       enable_geometric_pull_out: true
+      divide_pull_out_path: false
       geometric_pull_out_velocity: 1.0
       arc_path_interval: 1.0
       lane_departure_margin: 0.2
@@ -24,6 +25,7 @@
       # search start pose backward
       enable_back: true
       search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"
-      max_back_distance: 15.0
+      max_back_distance: 30.0
       backward_search_resolution: 2.0
       backward_path_update_duration: 3.0
+      ignore_distance_from_lane_end: 15.0
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
similarity index 98%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
index 4c9f4fd41b..f09439edf7 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -19,6 +19,7 @@
       longitudinal_margin: 3.0
       max_lateral_offset: 0.5
       lateral_offset_interval: 0.25
+      ignore_distance_from_lane_start: 15.0
       # occupancy grid map
       use_occupancy_grid: true
       use_occupancy_grid_for_longitudinal_margin: false
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml
similarity index 85%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml
index 815301d55a..79044041b4 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml
@@ -6,4 +6,3 @@
       shifting_lateral_jerk: 0.2
       min_shifting_distance: 5.0
       min_shifting_speed: 5.56
-      shift_request_time_limit: 1.0
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
similarity index 80%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index bf75e3d577..8cb2f8edbe 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -10,9 +10,11 @@
     launch_occlusion_spot: false
     launch_no_stopping_area: true
     launch_run_out: false
+    launch_speed_bump: false
     forward_path_length: 1000.0
     backward_path_length: 5.0
     max_accel: -3.0
     max_jerk: -5.0
     system_delay: 0.5
     delay_response_time: 0.5
+    is_publish_debug_path: false # publish all debug path with lane id in each module
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
similarity index 96%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index 2cc5260e4e..2bbc5d31fc 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -26,6 +26,7 @@
       stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
       min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
       max_yield_timeout: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
+      ego_yield_query_stop_duration: 0.1 # [s] the amount of time which ego should be stopping to query whether it yields or not
 
       # param for input data
       tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
similarity index 83%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
index 63ca5fc7d9..9174045bf0 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
@@ -6,4 +6,3 @@
       dead_line_margin: 5.0
       use_pass_judge_line: false
       state_clear_time: 2.0
-      hold_stop_margin_distance: 0.0
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
similarity index 95%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index f78e8b16aa..220c087d18 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -19,7 +19,7 @@
       collision_start_margin_time: 5.0 # [s]
       collision_end_margin_time: 2.0 # [s]
       use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
-      assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of frontcar when frontcar as well as ego are turning
+      assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
       enable_front_car_decel_prediction: false # By default this feature is disabled
 
     merge_from_private_road:
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
similarity index 88%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
index 0b93ea5308..957f7988a6 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
@@ -4,7 +4,7 @@
       detection_method: "occupancy_grid"    # [-] candidate is "occupancy_grid" or "predicted_object"
       pass_judge: "smooth_velocity"         # [-] candidate is "smooth_velocity" or "current_velocity"
       use_object_info: true                 # [-] whether to reflect object info to occupancy grid map or not
-      use_moving_object_ray_cast: true      # [-] whether to reflect moving object ray shadow grid map
+      use_moving_object_ray_cast: true      # [-] whether to reflect moving object ray_cast to occupancy grid map or not
       use_partition_lanelet: true           # [-] whether to use partition lanelet map data
       pedestrian_vel: 1.5                   # [m/s] assume pedestrian is dashing from occlusion at this velocity
       pedestrian_radius: 0.3                # [m] assume pedestrian width(0.2m) + margin(0.1m)
@@ -18,8 +18,8 @@
         lateral_distance: 1.5               # [m] maximum lateral distance to consider hidden collision
       motion:
         safety_ratio: 0.8                   # [-] jerk/acceleration ratio for safety
-        max_slow_down_jerk: -0.3            # [m/s^3] minimum jerk deceleration for safe brake.
-        max_slow_down_accel: -1.5           # [m/s^2] minimum accel deceleration for safe brake.
+        max_slow_down_jerk: -0.5            # [m/s^3] minimum jerk deceleration for safe brake.
+        max_slow_down_accel: -1.8           # [m/s^2] minimum accel deceleration for safe brake.
         non_effective_jerk: -0.3            # [m/s^3] weak jerk for velocity planning.
         non_effective_acceleration: -1.0    # [m/s^2] weak deceleration for velocity planning.
         min_allowed_velocity: 1.0           # [m/s] minimum velocity allowed
@@ -28,7 +28,7 @@
         min_occlusion_spot_size: 1.0     # [m] occupancy grid must contain an UNKNOWN area of at least size NxN to be considered a hidden obstacle.
         slice_length: 10.0               # [m] size of slices in both length and distance relative to the ego path.
         min_longitudinal_offset: 1.0     # [m] detection area safety buffer from front bumper.
-        max_lateral_distance: 5.0        # [m] buffer around the ego path used to build the detection area.
+        max_lateral_distance: 6.0        # [m] buffer around the ego path used to build the detection area.
       grid:
         free_space_max: 43  # [-] maximum value of a free space cell in the occupancy grid
-        occupied_min: 57    # [-] minimum value of an occupied cell in the occupancy grid
+        occupied_min: 58    # [-] minimum value of an occupied cell in the occupancy grid
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml
new file mode 100644
index 0000000000..ef61bdb743
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml
@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+    speed_bump:
+      slow_start_margin: 1.0
+      slow_end_margin: 1.0
+      print_debug_info: false
+
+      # limits for speed bump height and slow down speed to create a linear equation
+      speed_calculation:
+        min_height: 0.05 # [m]
+        max_height: 0.30 # [m]
+        min_speed: 1.39  # [m/s] = [5 kph]
+        max_speed: 2.78  # [m/s] = [10 kph]
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
similarity index 52%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
index b4a7904941..20ca20d13d 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
@@ -2,6 +2,5 @@
   ros__parameters:
     stop_line:
       stop_margin: 1.4
+      stop_check_dist: 2.0
       stop_duration_sec: 1.0
-      hold_stop_margin_distance: 2.0
-      use_initialization_stop_line_state: true
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml
similarity index 85%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml
index 8879408d40..267dde50c7 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml
@@ -4,6 +4,5 @@
       max_delay_sec: 3.0
       near_line_distance: 1.0
       dead_line_margin: 1.0
-      hold_stop_margin_distance: 0.0
       max_yaw_deviation_deg: 90.0
       check_timeout_after_stop_line: true
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
similarity index 91%
rename from planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
index 55a21d6cd7..8954a46ab1 100644
--- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -4,6 +4,9 @@
     lowpass_gain: 0.9                        # gain parameter for low pass filter [-]
     max_velocity: 20.0                       # max velocity [m/s]
     enable_slow_down: False                  # whether to use slow down planner [-]
+    voxel_grid_x: 0.05                       # voxel grid x parameter for filtering pointcloud [m]
+    voxel_grid_y: 0.05                       # voxel grid y parameter for filtering pointcloud [m]
+    voxel_grid_z: 100000.0                   # voxel grid z parameter for filtering pointcloud [m]
 
     stop_planner:
       # params for stop position
diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml
similarity index 100%
rename from planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml
diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml
similarity index 77%
rename from planning_launch/config/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml
index 982fb7e1d7..6aa4e71774 100644
--- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml
@@ -12,4 +12,4 @@
     stop_state_ego_speed: 0.1 #[m/s]
 
     # debug
-    publish_debug_footprints: false # publish vehicle footprint & footprints with surround_check_distance and surround_check_recover_distance offsets
+    publish_debug_footprints: true # publish vehicle footprint & footprints with surround_check_distance and surround_check_recover_distance offsets
diff --git a/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
similarity index 85%
rename from planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
rename to autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
index d2226091b5..d6152c4f56 100644
--- a/planning_launch/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     # -- Node Configurations --
-    planning_algorithm: "astar" # options: astar, rrtstar
+    planning_algorithm: "astar"
     waypoints_velocity: 5.0
     update_rate: 10.0
     th_arrived_distance_m: 1.0
@@ -15,6 +15,10 @@
     # -- Configurations common to the all planners --
     # base configs
     time_limit: 30000.0
+    # robot configs # TODO replace by vehicle_info
+    robot_length: 4.5
+    robot_width: 1.75
+    robot_base2back: 1.0
     minimum_turning_radius: 9.0
     maximum_turning_radius: 9.0
     turning_radius_size: 1
diff --git a/simulator_launch/config/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml
similarity index 100%
rename from simulator_launch/config/fault_injection.param.yaml
rename to autoware_launch/config/simulator/fault_injection.param.yaml
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 9c9609ab4d..f1c2168783 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -35,11 +35,13 @@
   <!-- Perception -->
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
-  <!-- Control -->
-  <arg name="check_external_emergency_heartbeat" default="false" description="check external emergency heartbeat"/>
+  <!-- Planning -->
+  <arg name="use_experimental_lane_change_function" default="false" />
   <!-- Others -->
   <arg name="use_foa" default="false"/>
-  <arg name="use_perfect_lane_change" default="false" />
+
+    <let name="rtc_auto_mode_manager_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml" unless="$(var use_foa)"/>
+    <let name="rtc_auto_mode_manager_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml" if="$(var use_foa)"/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -98,13 +100,14 @@
 
   <!-- 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 -->
   <group if="$(var launch_perception)">
-    <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
-      <arg name="mode" value="$(var perception_mode)" />
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
+      <arg name="mode" value="$(var perception_mode)"/>
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
@@ -113,36 +116,41 @@
 
   <!-- Planning -->
   <group if="$(var launch_planning)">
-    <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg
+        name="behavior_path_planner_tree_param_path"
+        value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml"
+      />
       <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
-      <arg name="use_foa" value="$(var use_foa)" />
+      <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
+      <arg name="use_surround_obstacle_check" value="false"/>
+      <arg name="smoother_type" value="JerkFiltered"/>
+      <arg name="rtc_auto_mode_manager_param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
     </include>
   </group>
 
   <!-- Control -->
   <group if="$(var launch_control)">
-    <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
-      <!-- options for lateral_controller_mode: mpc, pure_pursuit -->
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml">
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="vehicle_id" value="$(var vehicle_id)"/>
+      <arg name="enable_obstacle_collision_checker" value="false"/>
       <arg name="lateral_controller_mode" value="mpc"/>
       <arg name="longitudinal_controller_mode" value="pid"/>
-      <arg name="lat_controller_param_path" value="$(find-pkg-share control_launch)/config/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml"/>
-      <arg name="lon_controller_param_path" value="$(find-pkg-share control_launch)/config/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml"/>
-      <arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
-      <arg name="use_multithread" value="true" />
+      <arg name="use_individual_control_param" value="true"/>
     </include>
   </group>
 
-  <!-- Autoware API -->
+  <!-- API -->
   <group>
-    <include file="$(find-pkg-share autoware_api_launch)/launch/autoware_api.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_autoware_api_component.launch.xml"/>
   </group>
 
-  <!-- Tools -->
-  <group>
-    <!-- Rviz -->
-    <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)" />
-    <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml"/>
+  <!-- Rviz -->
+  <group if="$(var rviz)">
+    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"/>
   </group>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
new file mode 100644
index 0000000000..ccc1527fb0
--- /dev/null
+++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
@@ -0,0 +1,9 @@
+<launch>
+  <!-- forwarding options -->
+  <arg name="launch_deprecated_api" default="true"/>
+  <arg name="rosbridge_enabled" default="true"/>
+  <arg name="rosbridge_max_message_size" default="1000000000"/>
+  <group>
+    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
+  </group>
+</launch>
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
new file mode 100644
index 0000000000..264deb0ffc
--- /dev/null
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="vehicle_param_file"/>
+  <arg name="vehicle_id"/>
+  <arg name="enable_obstacle_collision_checker"/>
+  <arg name="lateral_controller_mode"/>
+  <arg name="longitudinal_controller_mode"/>
+  <arg name="use_individual_control_param"/>
+
+  <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
+  <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
+
+  <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+
+    <!-- option -->
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="vehicle_id" value="$(var vehicle_id)"/>
+    <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
+    <arg name="trajectory_follower_node_param_path" value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/trajectory_follower_node.param.yaml"/>
+    <arg
+      name="lat_controller_param_path"
+      value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/$(var latlon_controller_param_path_dir)/lateral/$(var lateral_controller_mode).param.yaml"
+    />
+    <arg
+      name="lon_controller_param_path"
+      value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/$(var latlon_controller_param_path_dir)/longitudinal/$(var longitudinal_controller_mode).param.yaml"
+    />
+    <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
+    <arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
+
+    <!-- common param path -->
+    <arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/control/common/nearest_search.param.yaml"/>
+
+    <!-- package param path -->
+    <arg name="lat_controller_param_path" value="$(var lat_controller_param_path)"/>
+    <arg name="lon_controller_param_path" value="$(var lon_controller_param_path)"/>
+    <arg name="vehicle_cmd_gate_param_path" value="$(find-pkg-share autoware_launch)/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml"/>
+    <arg name="lane_departure_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/lane_departure_checker/lane_departure_checker.param.yaml"/>
+    <arg name="operation_mode_transition_manager_param_path" value="$(find-pkg-share autoware_launch)/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
+    <arg name="shift_decider_param_path" value="$(find-pkg-share autoware_launch)/config/control/shift_decider/shift_decider.param.yaml"/>
+    <arg name="obstacle_collision_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml"/>
+    <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
+  </include>
+</launch>
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 0000000000..7ef5fa06fc
--- /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/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
new file mode 100644
index 0000000000..bc61913e28
--- /dev/null
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="mode"/>
+  <arg name="vehicle_param_file"/>
+  <arg name="use_pointcloud_container"/>
+  <arg name="pointcloud_container_name"/>
+  <arg name="enable_fine_detection"/>
+
+  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
+    <arg name="mode" value="$(var mode)"/>
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+    <arg name="input/pointcloud" value="/sensing/lidar/top/outlier_filtered/pointcloud"/>
+    <arg name="use_traffic_light_recognition" value="false"/>
+    <arg name="centerpoint_model_name" value="aip_xx1" />
+    <arg name="centerpoint_model_path" value="$(find-pkg-share ml_model_provider)/data/lidar_centerpoint"/>
+    <arg name="centerpoint_model_param_path" value="$(find-pkg-share ml_model_provider)/config/lidar_centerpoint/aip_xx1.param.yaml"/>
+
+    <arg
+      name="object_recognition_detection_object_lanelet_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_object_position_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_position_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_pointcloud_map_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
+    />
+    <arg
+      name="obstacle_segmentation_ground_segmentation_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml"
+    />
+    <arg
+      name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
+    />
+  </include>
+</launch>
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
new file mode 100644
index 0000000000..07dc260100
--- /dev/null
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -0,0 +1,126 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="vehicle_param_file"/>
+  <arg name="use_pointcloud_container"/>
+  <arg name="pointcloud_container_name"/>
+  <!-- behavior -->
+  <arg name="behavior_path_planner_tree_param_path"/>
+  <!-- motion -->
+  <arg name="cruise_planner_type" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
+  <arg name="use_surround_obstacle_check"/>
+  <arg name="smoother_type" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
+  <arg name="use_experimental_lane_change_function"/>
+
+  <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="smoother_type" value="$(var smoother_type)"/>
+
+    <!-- common -->
+    <arg name="common_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/common.param.yaml"/>
+    <arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/nearest_search.param.yaml"/>
+
+    <!-- rtc -->
+    <arg
+      name="rtc_auto_mode_manager_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"
+    />
+
+    <!-- behavior path planner -->
+    <arg
+      name="side_shift_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml"
+    />
+    <arg name="avoidance_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml"/>
+    <arg
+      name="lane_change_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"
+    />
+    <arg
+      name="lane_following_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml"
+    />
+    <arg name="pull_over_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml"/>
+    <arg name="pull_out_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml"/>
+    <arg
+      name="drivable_area_expansion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml"
+    />
+    <arg name="behavior_path_planner_tree_param_path" value="$(var behavior_path_planner_tree_param_path)"/>
+    <arg
+      name="behavior_path_planner_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml"
+    />
+
+    <!-- behavior velocity planner -->
+    <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
+    <arg name="blind_spot_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml"/>
+    <arg name="crosswalk_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml"/>
+    <arg
+      name="detection_area_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml"
+    />
+    <arg name="intersection_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml"/>
+    <arg name="stop_line_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml"/>
+    <arg name="traffic_light_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml"/>
+    <arg
+      name="virtual_traffic_light_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml"
+    />
+    <arg
+      name="occlusion_spot_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml"
+    />
+    <arg
+      name="no_stopping_area_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml"
+    />
+    <arg name="run_out_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml"/>
+    <arg name="speed_bump_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml"/>
+    <arg
+      name="behavior_velocity_planner_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml"
+    />
+
+    <!-- parking -->
+    <arg name="freespace_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
+
+    <!-- motion -->
+    <arg
+      name="obstacle_avoidance_planner_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"
+    />
+    <arg
+      name="obstacle_velocity_limiter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml"
+    />
+    <arg
+      name="surround_obstacle_checker_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml"
+    />
+    <arg
+      name="obstacle_stop_planner_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml"
+    />
+    <arg
+      name="obstacle_stop_planner_acc_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml"
+    />
+    <arg
+      name="obstacle_cruise_planner_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"
+    />
+    <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
+    <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
+    <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
+    <arg name="smoother_type" value="$(var smoother_type)"/>
+
+    <!-- motion velocity smoother -->
+    <arg name="motion_velocity_smoother_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
+    <arg name="smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
+
+    <!-- planning validator -->
+    <arg name="planning_validator_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml"/>
+  </include>
+</launch>
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
new file mode 100644
index 0000000000..34b7258fbc
--- /dev/null
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="launch_dummy_perception"/>
+  <arg name="launch_dummy_vehicle"/>
+  <arg name="launch_dummy_localization"/>
+  <arg name="perception/enable_detection_failure"/>
+  <arg name="perception/enable_object_recognition"/>
+  <arg name="sensing/visible_range"/>
+  <arg name="vehicle_model"/>
+  <arg name="initial_engage_state"/>
+  <arg name="vehicle_info_param_file"/>
+
+  <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
+    <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
+    <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
+    <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
+    <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
+    <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+    <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+    <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
+
+    <arg name="fault_injection_param_path" value="$(find-pkg-share autoware_launch)/config/simulator/fault_injection.param.yaml"/>
+    <arg
+      name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
+    />
+  </include>
+</launch>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index bc6f2e9a18..56bdfa1a52 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -30,7 +30,7 @@
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
   <!-- Others -->
   <arg name="use_foa" default="false"/>
-  <arg name="use_perfect_lane_change" default="false" />
+  <arg name="use_experimental_lane_change_function" default="false" />
 
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
@@ -62,9 +62,10 @@
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
+      <!-- Planning -->
+      <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)" />
       <!-- Others -->
       <arg name="use_foa" value="$(var use_foa)"/>
-      <arg name="use_perfect_lane_change" value="$(var use_perfect_lane_change)"/>
     </include>
   </group>
 </launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 5a1fc9fa54..0b1b0a61a7 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -22,7 +22,7 @@
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
   <!-- Others -->
   <arg name="use_foa" default="false"/>
-  <arg name="use_perfect_lane_change" default="false" />
+  <arg name="use_experimental_lane_change_function" default="true" />
 
   <group scoped="false">
     <!-- Vehicle -->
@@ -50,12 +50,10 @@
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>
-      <!-- Control -->
-      <arg name="check_external_emergency_heartbeat" value="false"/>
+      <!-- Planning -->
+      <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)" />
       <!-- Others -->
       <arg name="use_foa" value="$(var use_foa)"/>
-      <arg name="use_perfect_lane_change" value="$(var use_perfect_lane_change)"/>
-
     </include>
   </group>
 
@@ -67,7 +65,7 @@
     <let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
     <let name="launch_dummy_localization" value="true"/>
 
-    <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml">
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_simulator_component.launch.xml">
       <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
       <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
       <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
@@ -76,6 +74,7 @@
       <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     </include>
   </group>
 </launch>
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
index 2fa28bd87a..4cc04cc4f4 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -5,24 +5,25 @@
   <description>The autoware_launch package</description>
 
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>ad_api_adaptors</exec_depend>
-  <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>perception_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_autoware_api_launch</exec_depend>
+  <exec_depend>tier4_control_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_planning_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
+  <exec_depend>tier4_simulator_launch</exec_depend>
   <exec_depend>tier4_vehicle_launch</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/control_launch/CMakeLists.txt b/control_launch/CMakeLists.txt
deleted file mode 100644
index 206bb55e10..0000000000
--- a/control_launch/CMakeLists.txt
+++ /dev/null
@@ -1,23 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(control_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(-Wno-unused-parameter -Wall -Wextra -Wpedantic)
-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
-  config
-  launch
-)
diff --git a/control_launch/README.md b/control_launch/README.md
deleted file mode 100644
index f18eedc3c9..0000000000
--- a/control_launch/README.md
+++ /dev/null
@@ -1,24 +0,0 @@
-# control_launch
-
-## Structure
-
-![control_launch](./control_launch.drawio.svg)
-
-## Package Dependencies
-
-Please see `<exec_depend>` in `package.xml`.
-
-## Usage
-
-You can include as follows in `*.launch.xml` to use `control.launch.py`.
-
-```xml
-<include file="$(find-pkg-share control_launch)/launch/control.launch.py">
-  <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
-  <arg name="lateral_controller_mode" value="mpc_follower" />
-</include>
-```
-
-## Notes
-
-For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS2 (similar to Nodelet in ROS1 )
diff --git a/control_launch/control_launch.drawio.svg b/control_launch/control_launch.drawio.svg
deleted file mode 100644
index f51b6ba126..0000000000
--- a/control_launch/control_launch.drawio.svg
+++ /dev/null
@@ -1,421 +0,0 @@
-<svg host="65bd71144e" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1209px" height="1011px" viewBox="-0.5 -0.5 1209 1011" content="&lt;mxfile&gt;&lt;diagram id=&quot;hw8opUG3N7cuFXbovIOC&quot; name=&quot;ページ1&quot;&gt;7VpLb+M2EP41BtpDDD0sWT7msd0etkCBHLp7MhhpbLGhRJWiX/vrS0qkJUp04iSy1wtvAiTiUCSHM998HI498u+z7WeGivQvmgAZeU6yHfkPI89zvSgS/6RkpyR+6NSSJcOJkjWCR/wdlFC/tsIJlMaLnFLCcWEKY5rnEHNDhhijG/O1BSXmqgVaQk/wGCPSl/6DE57W0sibNvI/AS9TvbIbzuqeDOmX1U7KFCV00xL5n0b+PaOU10/Z9h6ItJ62Sz3ujwO9e8UY5PyYAYFSbI3ISm1OGI0jnAMbeSERk9w9yaelfDosSfBa7obvlInC/1ZU9TdPxoiyQLmWFSh+rkx+KyZhMYmLYh7TrKC52EapR4hdtAe1xNXqWuoZiniMrvIE5HYd0b1JMYdHsZ7s3Qh4ClnKMyJarnhcYELuKaGsGusnAUTJRCrLGX2GVk/kPflhKEcIa7XkTvUj5GtgHAvE3BK8zEUfp3IppFoEFo2ybW8pB8rRsG2JlPc+A82As514RffOFJJ0LOlQ2jTADCdKlrZAGekXkQqG5X7uBi/iQUHGDh/Pih5GyZigVR6n42L3ZhQdCRO10Lxe6MdhJI4hWCxsGPFDf+YnFozcyl8LRjKcJFKlPUxigQsRhx8DigZG1AfGHixtYLjOAMCY9IDRMzrkya3kYrlPgsoSx6adYYv519bzN+mecaBaD1vlraqxU42DdirpisVggBYSg+T7hmsZKrDYScsYEMTx2jwabLZTK/xNsVDuYAB73bisVVej2lT+2kR+ZyKO2BJ4b6LKlfttH+Vdd3qEe4V5H1UzF0QuvGOGGWU8pUuaI/KFSnKsHP0vcL5TBz5acfpxSAgksN3XdqM1SjabYVXrbVAKVPZRmbaWTcMj8fVB4AQdfwfuO4GzH6iBE50OOP10IyviuUjACN3IjMMCoi/oSeSPBg56/HiQSRmU+Dt6quaTXi3kJqptBXej4EGRswKcKzFB5HJ34qRZVnDVvK0gbEGFjoUuE+/TT7W8keHZjnJnLHwamaf5IBRz405ss+oJ6GJRwoc9Gw7H+E1If2v1XEp4Rxd1fATOZBxNZs2PyQlRONaQejMtBCYtTLr8coAWhIvRrvWaCrmDO/Bd+zoNFusZ34vMfarUILNYMZiLP+UK85+Sc3SwDcA5ThSEhv1vBiKdYGqddlDW0QFqsM7ktzUSR4kj1AeGyFzfFDKawO89d7OUZk+r8vW8/yBjHH9Z21/7uylaOyePTpWT+2dK0jQjuwMx8qkTKddzTLeEbvA+ynx9puFSKd/vQV9fhZ0cZTBE9UbAmt8o4pN37qps8faKjm6Yiv0UV3Vdzhkg+KPATMIsoW/LE9zusfuu0O/fx6XStz3zSo+bNjRtpUiibVglOv58tDnNdGvrfJwMZP0O81qqZLYimTeA7bVTW7bPxUn0K0wPhSm4SQBTW5jOwqmPXqq6DgGUaaeges44ndpInROaz7PVdpiK/EBgsal1dVCZdEjFks5ZaWUYrPRv3GYt5WKwYlPr2rDSvU1bU/+TleN10eLgHfhisGJT69qx4luylRNipV+jXQOhMeY7fZUmF0UvL2h3bcjpnkiBc84TKepnugTlME9AbIrLwI5TiJ+BzesE+GIQdISW146kqYWDToikfs22TPGCCyfFOLko9rHqde1oiWZnRUu/urGGFMdEhHKWzJeIXxLZHFLt2jDTzXLOfFb1PzlgkFFe+0VkEtVGLoloXlLv2rFz5tOpf/MWLgaWyw+bhHtKIBBzekngeVG/a0fPees2Uf/LU5SnMpZ/FYTtaPnA13AHQMukg5ZTFoRFs/nud/2hYPMVev/T/w==&lt;/diagram&gt;&lt;/mxfile&gt;">
-    <defs/>
-    <g>
-        <rect x="190" y="150" width="640" height="860" fill="#d5e8d4" stroke="#82b366" 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 flex-start; justify-content: unsafe flex-start; width: 638px; height: 1px; padding-top: 157px; margin-left: 192px;">
-                        <div style="box-sizing: border-box; font-size: 0; text-align: left; ">
-                            <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; ">
-                                container
-                                <br/>
-                                <br/>
-                                <div>
-                                    <span>
-                                        package: rclcpp_components
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="192" y="169" fill="#000000" font-family="Helvetica" font-size="12px">
-                    container...
-                </text>
-            </switch>
-        </g>
-        <rect x="0" y="170" width="160" 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: 158px; height: 1px; padding-top: 220px; margin-left: 1px;">
-                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
-                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #0A0A0A; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                control.launch.py
-                                <br/>
-                                <br/>
-                                <div>
-                                    <span>
-                                        package: control_launch
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="80" y="224" fill="#0A0A0A" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    control.launch.py...
-                </text>
-            </switch>
-        </g>
-        <path d="M 160 220 L 183.63 220" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
-        <path d="M 188.88 220 L 181.88 223.5 L 183.63 220 L 181.88 216.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/>
-        <path d="M 400 270 L 543.63 270" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
-        <path d="M 548.88 270 L 541.88 273.5 L 543.63 270 L 541.88 266.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" 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">
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-                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
-                            <div style="display: inline-block; font-size: 15px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: nowrap; ">
-                                mpc_follower
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="481" y="275" fill="#000000" font-family="Helvetica" font-size="15px" text-anchor="middle">
-                    mpc_follower
-                </text>
-            </switch>
-        </g>
-        <path d="M 310 320 L 310 390 Q 310 400 320 400 L 543.63 400" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
-        <path d="M 548.88 400 L 541.88 403.5 L 543.63 400 L 541.88 396.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" 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: 1px; height: 1px; padding-top: 401px; margin-left: 348px;">
-                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
-                            <div style="display: inline-block; font-size: 15px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: nowrap; ">
-                                pure_pursuit
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="348" y="405" fill="#000000" font-family="Helvetica" font-size="15px" text-anchor="middle">
-                    pure_pursuit
-                </text>
-            </switch>
-        </g>
-        <path d="M 310 220 L 400 270 L 310 320 L 220 270 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" 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: 178px; height: 1px; padding-top: 270px; margin-left: 221px;">
-                        <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; ">
-                                $(var lateral_controller_mode)
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="310" y="274" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    $(var lateral_controller_mode)
-                </text>
-            </switch>
-        </g>
-        <rect x="85" y="0" width="150" height="110" 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: 148px; height: 1px; padding-top: 55px; margin-left: 86px;">
-                        <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; ">
-                                launch name
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: package name
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="160" y="59" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    launch name...
-                </text>
-            </switch>
-        </g>
-        <rect x="20" y="50" width="40" height="20" fill="none" stroke="none" pointer-events="all"/>
-        <g transform="translate(-0.5 -0.5)">
-            <switch>
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-                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 38px; height: 1px; padding-top: 60px; margin-left: 21px;">
-                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
-                            <div style="display: inline-block; font-size: 40px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                ex:
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="40" y="72" fill="#000000" font-family="Helvetica" font-size="40px" text-anchor="middle">
-                    ex:
-                </text>
-            </switch>
-        </g>
-        <rect x="270" y="0" width="150" height="110" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/>
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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: 148px; height: 1px; padding-top: 55px; margin-left: 271px;">
-                        <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; ">
-                                node name
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: package name
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="345" y="59" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    node name...
-                </text>
-            </switch>
-        </g>
-        <rect x="240" y="620" width="240" height="110" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/>
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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: 238px; height: 1px; padding-top: 675px; margin-left: 241px;">
-                        <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; ">
-                                latlon_muxer
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: latlon_muxer
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="360" y="679" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    latlon_muxer...
-                </text>
-            </switch>
-        </g>
-        <rect x="550" y="220" width="160" 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: 158px; height: 1px; padding-top: 270px; 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; ">
-                                mpc_follower
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: mpc_follower
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="630" y="274" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    mpc_follower...
-                </text>
-            </switch>
-        </g>
-        <rect x="550" y="350" width="160" 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: 158px; height: 1px; padding-top: 400px; 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; ">
-                                pure_pursuit
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: pure_pursuit
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="630" y="404" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    pure_pursuit...
-                </text>
-            </switch>
-        </g>
-        <rect x="240" y="490" width="240" height="110" 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: 238px; height: 1px; padding-top: 545px; margin-left: 241px;">
-                        <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; ">
-                                velocity_controller
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: velocity_controller
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="360" y="549" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    velocity_controller...
-                </text>
-            </switch>
-        </g>
-        <rect x="240" y="750" width="240" height="110" 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: 238px; height: 1px; padding-top: 805px; margin-left: 241px;">
-                        <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; ">
-                                lane_departure_checker_node
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: lane_departure_checker_node
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="360" y="809" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    lane_departure_checker_node...
-                </text>
-            </switch>
-        </g>
-        <rect x="240" y="880" width="240" height="110" 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: 238px; height: 1px; padding-top: 935px; margin-left: 241px;">
-                        <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; ">
-                                shift_decider
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: shift_decider
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="360" y="939" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    shift_decider...
-                </text>
-            </switch>
-        </g>
-        <rect x="550" y="490" width="240" height="110" 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: 238px; height: 1px; padding-top: 545px; 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; ">
-                                vehicle_cmd_gate
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: vehicle_cmd_gate
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="670" y="549" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    vehicle_cmd_gate...
-                </text>
-            </switch>
-        </g>
-        <rect x="550" y="750" width="240" height="110" 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: 238px; height: 1px; padding-top: 805px; 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; ">
-                                external_cmd_converter
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: external_cmd_converter
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="670" y="809" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    external_cmd_converter...
-                </text>
-            </switch>
-        </g>
-        <rect x="550" y="620" width="240" height="110" 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: 238px; height: 1px; padding-top: 675px; 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; ">
-                                external_cmd_selector
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: external_cmd_selector
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="670" y="679" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    external_cmd_selector...
-                </text>
-            </switch>
-        </g>
-        <rect x="450" y="0" width="150" height="110" fill="#d5e8d4" stroke="#82b366" 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: 148px; height: 1px; padding-top: 55px; margin-left: 451px;">
-                        <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; ">
-                                other name
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: package name
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="525" y="59" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    other name...
-                </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/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
deleted file mode 100644
index 6ae21f9f0e..0000000000
--- a/control_launch/launch/control.launch.py
+++ /dev/null
@@ -1,387 +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 GroupAction
-from launch.actions import IncludeLaunchDescription
-from launch.actions import OpaqueFunction
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import EnvironmentVariable
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import PushRosNamespace
-from launch_ros.descriptions import ComposableNode
-from launch_ros.substitutions import FindPackageShare
-import yaml
-
-
-def launch_setup(context, *args, **kwargs):
-    nearest_search_param_path = LaunchConfiguration("nearest_search_param_path").perform(context)
-    with open(nearest_search_param_path, "r") as f:
-        nearest_search_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    lat_controller_param_path = LaunchConfiguration("lat_controller_param_path").perform(context)
-    with open(lat_controller_param_path, "r") as f:
-        lat_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    lon_controller_param_path = LaunchConfiguration("lon_controller_param_path").perform(context)
-    with open(lon_controller_param_path, "r") as f:
-        lon_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    trajectory_follower_node_param_path = LaunchConfiguration(
-        "trajectory_follower_node_param_path"
-    ).perform(context)
-    with open(trajectory_follower_node_param_path, "r") as f:
-        trajectory_follower_node_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    vehicle_cmd_gate_param_path = LaunchConfiguration("vehicle_cmd_gate_param_path").perform(
-        context
-    )
-    with open(vehicle_cmd_gate_param_path, "r") as f:
-        vehicle_cmd_gate_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    lane_departure_checker_param_path = LaunchConfiguration(
-        "lane_departure_checker_param_path"
-    ).perform(context)
-    with open(lane_departure_checker_param_path, "r") as f:
-        lane_departure_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    operation_mode_transition_manager_param_path = LaunchConfiguration(
-        "operation_mode_transition_manager_param_path"
-    ).perform(context)
-    with open(operation_mode_transition_manager_param_path, "r") as f:
-        operation_mode_transition_manager_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    shift_decider_param_path = LaunchConfiguration("shift_decider_param_path").perform(context)
-    with open(shift_decider_param_path, "r") as f:
-        shift_decider_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    controller_component = ComposableNode(
-        package="trajectory_follower_node",
-        plugin="autoware::motion::control::trajectory_follower_node::Controller",
-        name="controller_node_exe",
-        namespace="trajectory_follower",
-        remappings=[
-            ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
-            ("~/input/current_odometry", "/localization/kinematic_state"),
-            ("~/input/current_steering", "/vehicle/status/steering_status"),
-            ("~/input/current_accel", "/localization/acceleration"),
-            ("~/output/predicted_trajectory", "lateral/predicted_trajectory"),
-            ("~/output/lateral_diagnostic", "lateral/diagnostic"),
-            ("~/output/slope_angle", "longitudinal/slope_angle"),
-            ("~/output/longitudinal_diagnostic", "longitudinal/diagnostic"),
-            ("~/output/control_cmd", "control_cmd"),
-        ],
-        parameters=[
-            {
-                "ctrl_period": 0.03,
-                "lateral_controller_mode": LaunchConfiguration("lateral_controller_mode"),
-                "longitudinal_controller_mode": LaunchConfiguration("longitudinal_controller_mode"),
-            },
-            nearest_search_param,
-            trajectory_follower_node_param,
-            lon_controller_param,
-            lat_controller_param,
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    # lane departure checker
-    lane_departure_component = ComposableNode(
-        package="lane_departure_checker",
-        plugin="lane_departure_checker::LaneDepartureCheckerNode",
-        name="lane_departure_checker_node",
-        namespace="trajectory_follower",
-        remappings=[
-            ("~/input/odometry", "/localization/kinematic_state"),
-            ("~/input/lanelet_map_bin", "/map/vector_map"),
-            ("~/input/route", "/planning/mission_planning/route"),
-            ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
-            (
-                "~/input/predicted_trajectory",
-                "/control/trajectory_follower/lateral/predicted_trajectory",
-            ),
-        ],
-        parameters=[nearest_search_param, lane_departure_checker_param],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    # shift decider
-    shift_decider_component = ComposableNode(
-        package="shift_decider",
-        plugin="ShiftDecider",
-        name="shift_decider",
-        remappings=[
-            ("input/control_cmd", "/control/trajectory_follower/control_cmd"),
-            ("input/state", "/autoware/state"),
-            ("output/gear_cmd", "/control/shift_decider/gear_cmd"),
-        ],
-        parameters=[
-            shift_decider_param,
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    # vehicle cmd gate
-    vehicle_cmd_gate_component = ComposableNode(
-        package="vehicle_cmd_gate",
-        plugin="vehicle_cmd_gate::VehicleCmdGate",
-        name="vehicle_cmd_gate",
-        remappings=[
-            ("input/emergency_state", "/system/emergency/emergency_state"),
-            ("input/steering", "/vehicle/status/steering_status"),
-            ("input/operation_mode", "/system/operation_mode/state"),
-            ("input/auto/control_cmd", "/control/trajectory_follower/control_cmd"),
-            ("input/auto/turn_indicators_cmd", "/planning/turn_indicators_cmd"),
-            ("input/auto/hazard_lights_cmd", "/planning/hazard_lights_cmd"),
-            ("input/auto/gear_cmd", "/control/shift_decider/gear_cmd"),
-            ("input/external/control_cmd", "/external/selected/control_cmd"),
-            ("input/external/turn_indicators_cmd", "/external/selected/turn_indicators_cmd"),
-            ("input/external/hazard_lights_cmd", "/external/selected/hazard_lights_cmd"),
-            ("input/external/gear_cmd", "/external/selected/gear_cmd"),
-            ("input/external_emergency_stop_heartbeat", "/external/selected/heartbeat"),
-            ("input/gate_mode", "/control/gate_mode_cmd"),
-            ("input/emergency/control_cmd", "/system/emergency/control_cmd"),
-            ("input/emergency/hazard_lights_cmd", "/system/emergency/hazard_lights_cmd"),
-            ("input/emergency/gear_cmd", "/system/emergency/gear_cmd"),
-            ("input/mrm_state", "/system/fail_safe/mrm_state"),
-            ("output/vehicle_cmd_emergency", "/control/command/emergency_cmd"),
-            ("output/control_cmd", "/control/command/control_cmd"),
-            ("output/gear_cmd", "/control/command/gear_cmd"),
-            ("output/turn_indicators_cmd", "/control/command/turn_indicators_cmd"),
-            ("output/hazard_lights_cmd", "/control/command/hazard_lights_cmd"),
-            ("output/gate_mode", "/control/current_gate_mode"),
-            ("output/engage", "/api/autoware/get/engage"),
-            ("output/external_emergency", "/api/autoware/get/emergency"),
-            ("output/operation_mode", "/control/vehicle_cmd_gate/operation_mode"),
-            ("~/service/engage", "/api/autoware/set/engage"),
-            ("~/service/external_emergency", "/api/autoware/set/emergency"),
-            # TODO(Takagi, Isamu): deprecated
-            ("input/engage", "/autoware/engage"),
-            ("~/service/external_emergency_stop", "~/external_emergency_stop"),
-            ("~/service/clear_external_emergency_stop", "~/clear_external_emergency_stop"),
-        ],
-        parameters=[
-            vehicle_cmd_gate_param,
-            {
-                "use_emergency_handling": LaunchConfiguration("use_emergency_handling"),
-                "check_external_emergency_heartbeat": LaunchConfiguration(
-                    "check_external_emergency_heartbeat"
-                ),
-                "use_start_request": LaunchConfiguration("use_start_request"),
-            },
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    # operation mode transition manager
-    operation_mode_transition_manager_component = ComposableNode(
-        package="operation_mode_transition_manager",
-        plugin="operation_mode_transition_manager::OperationModeTransitionManager",
-        name="operation_mode_transition_manager",
-        remappings=[
-            # input
-            ("kinematics", "/localization/kinematic_state"),
-            ("steering", "/vehicle/status/steering_status"),
-            ("trajectory", "/planning/scenario_planning/trajectory"),
-            ("control_cmd", "/control/command/control_cmd"),
-            ("control_mode_report", "/vehicle/status/control_mode"),
-            ("gate_operation_mode", "/control/vehicle_cmd_gate/operation_mode"),
-            # output
-            ("is_autonomous_available", "/control/is_autonomous_available"),
-            ("control_mode_request", "/control/control_mode_request"),
-        ],
-        parameters=[
-            nearest_search_param,
-            operation_mode_transition_manager_param,
-        ],
-    )
-
-    # external cmd selector
-    external_cmd_selector_loader = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [FindPackageShare("external_cmd_selector"), "/launch/external_cmd_selector.launch.py"]
-        ),
-        launch_arguments=[
-            ("use_intra_process", LaunchConfiguration("use_intra_process")),
-            ("target_container", "/control/control_container"),
-            # This is temporary uncomment. I will replace control_launch with tier4_control_launch soon.
-            # ("initial_selector_mode", LaunchConfiguration("initial_selector_mode")),
-            (
-                "external_cmd_selector_param_path",
-                LaunchConfiguration("external_cmd_selector_param_path"),
-            ),
-        ],
-    )
-
-    # external cmd converter
-    external_cmd_converter_loader = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [FindPackageShare("external_cmd_converter"), "/launch/external_cmd_converter.launch.py"]
-        ),
-        launch_arguments=[
-            ("use_intra_process", LaunchConfiguration("use_intra_process")),
-            ("target_container", "/control/control_container"),
-        ],
-    )
-
-    container = ComposableNodeContainer(
-        name="control_container",
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[
-            controller_component,
-            lane_departure_component,
-            shift_decider_component,
-            vehicle_cmd_gate_component,
-            operation_mode_transition_manager_component,
-        ],
-    )
-
-    group = GroupAction(
-        [
-            PushRosNamespace("control"),
-            container,
-            external_cmd_selector_loader,
-            external_cmd_converter_loader,
-        ]
-    )
-
-    return [group]
-
-
-def generate_launch_description():
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None, description=None):
-        launch_arguments.append(
-            DeclareLaunchArgument(name, default_value=default_value, description=description)
-        )
-
-    # lateral controller mode
-    add_launch_arg(
-        "lateral_controller_mode",
-        "mpc",
-        "lateral controller mode: `mpc` or `pure_pursuit`",
-    )
-
-    # longitudinal controller mode
-    add_launch_arg(
-        "longitudinal_controller_mode",
-        "pid",
-        "longitudinal controller mode: `pid`",
-    )
-
-    # parameter file path
-    add_launch_arg(
-        "nearest_search_param_path",
-        [
-            FindPackageShare("control_launch"),
-            "/config/common/nearest_search.param.yaml",
-        ],
-        "path to the parameter file of nearest search",
-    )
-    add_launch_arg(
-        "lat_controller_param_path",
-        [
-            FindPackageShare("control_launch"),
-            "/config/trajectory_follower/lateral",
-            EnvironmentVariable(name="VEHICLE_ID", default_value="default"),
-            "/mpc.param.yaml",
-        ],
-        "path to the parameter file of lateral controller. default is `mpc_follower`",
-    )
-    add_launch_arg(
-        "lon_controller_param_path",
-        [
-            FindPackageShare("control_launch"),
-            "/config/trajectory_follower/longitudinal/",
-            EnvironmentVariable(name="VEHICLE_ID", default_value="default"),
-            "/pid.param.yaml",
-        ],
-        "path to the parameter file of longitudinal controller",
-    )
-    add_launch_arg(
-        "trajectory_follower_node_param_path",
-        [
-            FindPackageShare("control_launch"),
-            "/config/trajectory_follower/trajectory_follower_node.param.yaml",
-        ],
-        "path to the parameter file of longitudinal controller",
-    )
-    add_launch_arg(
-        "vehicle_cmd_gate_param_path",
-        [
-            FindPackageShare("control_launch"),
-            "/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml",
-        ],
-        "path to the parameter file of vehicle_cmd_gate",
-    )
-    add_launch_arg(
-        "lane_departure_checker_param_path",
-        [FindPackageShare("lane_departure_checker"), "/config/lane_departure_checker.param.yaml"],
-    )
-    add_launch_arg(
-        "operation_mode_transition_manager_param_path",
-        [
-            FindPackageShare("control_launch"),
-            "/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml",
-        ],
-        "path to the parameter file of vehicle_cmd_gate",
-    )
-    add_launch_arg(
-        "shift_decider_param_path",
-        [
-            FindPackageShare("control_launch"),
-            "/config/shift_decider/shift_decider.param.yaml",
-        ],
-        "path to the parameter file of shift_decider",
-    )
-
-    # vehicle cmd gate
-    add_launch_arg("use_emergency_handling", "false", "use emergency handling")
-    add_launch_arg("check_external_emergency_heartbeat", "true", "use external emergency stop")
-    add_launch_arg("use_start_request", "false", "use start request service")
-
-    # external cmd selector
-    add_launch_arg("initial_selector_mode", "remote", "local or remote")
-    add_launch_arg(
-        "external_cmd_selector_param_path",
-        [
-            FindPackageShare("external_cmd_selector"),
-            "/config/external_cmd_selector.param.yaml",
-        ],
-    )
-
-    # component
-    add_launch_arg("use_intra_process", "false", "use ROS2 component container communication")
-    add_launch_arg("use_multithread", "false", "use multithread")
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-    return launch.LaunchDescription(
-        launch_arguments
-        + [
-            set_container_executable,
-            set_container_mt_executable,
-        ]
-        + [OpaqueFunction(function=launch_setup)]
-    )
diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml
deleted file mode 100644
index 073d9007cf..0000000000
--- a/control_launch/launch/control.launch.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<launch>
-
-  <!-- common parameters -->
-  <!-- <arg name="lateral_controller_mode" default="mpc_follower" description="options: mpc_follower, pure_pursuit"/> -->
-
-  <!-- control parameter -->
-  <arg name="lateral_controller_mode" description="options for lateral_controller_mode: mpc_follower, pure_pursuit"/>
-  <arg name="lat_controller_param_path" default="$(find-pkg-share control_launch)/config/trajectory_follower/$(env VEHICLE_ID default)/lateral_controller.param.yaml"/>
-  <arg name="lon_controller_param_path" default="$(find-pkg-share control_launch)/config/trajectory_follower/$(env VEHICLE_ID default)/longitudinal_controller.param.yaml"/>
-  <arg name="vehicle_cmd_gate_param_path" default="$(find-pkg-share control_launch)/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml"/>
-  <arg name="operation_mode_transition_manager_param_path" default="$(find-pkg-share control_launch)/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
-  <arg name="shift_decider_param_path" default="$(find-pkg-share control_launch)/config/shift_decider/shift_decider.param.yaml"/>
-  <arg name="initial_selector_mode" default="remote"/>
-  <arg name="check_external_emergency_heartbeat" default="true"/>
-
-  <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
-    <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)" />
-    <arg name="lat_controller_param_path" value="$(var lat_controller_param_path)"/>
-    <arg name="lon_controller_param_path" value="$(var lon_controller_param_path)"/>
-    <arg name="vehicle_cmd_gate_param_path" value="$(var vehicle_cmd_gate_param_path)"/>
-    <arg name="operation_mode_transition_manager_param_path" value="$(var operation_mode_transition_manager_param_path)"/>
-    <arg name="shift_decider_param_path" value="$(var shift_decider_param_path)"/>
-    <arg name="initial_selector_mode" value="$(var initial_selector_mode)"/>
-    <arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
-  </include>
-
-</launch>
diff --git a/control_launch/package.xml b/control_launch/package.xml
deleted file mode 100644
index ebf76a49f8..0000000000
--- a/control_launch/package.xml
+++ /dev/null
@@ -1,26 +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>control_launch</name>
-  <version>0.1.0</version>
-  <description>The control_launch package</description>
-
-  <maintainer email="horibe.takamasa@gmail.com">Takamasa Horibe</maintainer>
-
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <exec_depend>external_cmd_converter</exec_depend>
-  <exec_depend>lane_departure_checker</exec_depend>
-  <exec_depend>shift_decider</exec_depend>
-  <exec_depend>trajectory_follower_node</exec_depend>
-  <exec_depend>vehicle_cmd_gate</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>
diff --git a/localization_launch/CMakeLists.txt b/localization_launch/CMakeLists.txt
deleted file mode 100644
index 9815ea4b7c..0000000000
--- 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 959768012c..0000000000
--- 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 91fbe6ac97..0000000000
--- 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="$(find-pkg-share localization_launch)/launch/localization_error_monitor/localization_error_monitor.launch.xml">
-    </include>
-  </group>
-</launch>
diff --git a/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
deleted file mode 100644
index c895da4917..0000000000
--- a/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <include file="$(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="$(find-pkg-share localization_launch)/config/localization_error_monitor.param.yaml"/>
-    </include>
-</launch>
diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
deleted file mode 100644
index 3273db453f..0000000000
--- a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <include file="$(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="$(find-pkg-share localization_launch)/config/ndt_scan_matcher.param.yaml" />
-  </include>
-
-</launch>
diff --git a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
deleted file mode 100644
index 3c109769e1..0000000000
--- a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group>
-    <include file="$(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 155521a0ed..0000000000
--- 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 1721ec7d7b..0000000000
--- 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 783eee8adc..0000000000
--- 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 1bde302430..0000000000
--- 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="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; ">
-                                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...
-                </text>
-            </switch>
-        </g>
-        <path d="M 499.87 220 L 533.63 220" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
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-                        <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)">
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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: 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"/>
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-        <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)">
-            <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: 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"/>
-        <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: 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...
-                </text>
-            </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 c61aaeed79..0000000000
--- 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>
diff --git a/perception_launch/CMakeLists.txt b/perception_launch/CMakeLists.txt
deleted file mode 100644
index ade04cfcd8..0000000000
--- a/perception_launch/CMakeLists.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(perception_launch)
-
-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/perception_launch/README.md b/perception_launch/README.md
deleted file mode 100644
index 9cc11ca6f7..0000000000
--- a/perception_launch/README.md
+++ /dev/null
@@ -1,20 +0,0 @@
-# perception_launch
-
-## Structure
-
-![perception_launch](./perception_launch.drawio.svg)
-
-## Package Dependencies
-
-Please see `<exec_depend>` in `package.xml`.
-
-## Usage
-
-You can include as follows in `*.launch.xml` to use `perception.launch.xml`.
-
-```xml
-  <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
-    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
-    <arg name="mode" value="lidar" />
-  </include>
-```
diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
deleted file mode 100644
index 31341fa3bb..0000000000
--- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ /dev/null
@@ -1,278 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="input/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="output/objects" default="objects"/>
-  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
-  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
-  <arg name="image_raw1" default="/image_raw1"/>
-  <arg name="camera_info1" default="/camera_info1"/>
-  <arg name="image_raw2" default="/image_raw2"/>
-  <arg name="camera_info2" default="/camera_info2"/>
-  <arg name="image_raw3" default="/image_raw3"/>
-  <arg name="camera_info3" default="/camera_info3"/>
-  <arg name="image_raw4" default="/image_raw4"/>
-  <arg name="camera_info4" default="/camera_info4"/>
-  <arg name="image_raw5" default="/image_raw5"/>
-  <arg name="camera_info5" default="/camera_info5"/>
-  <arg name="image_raw6" default="/image_raw6"/>
-  <arg name="camera_info6" default="/camera_info6"/>
-  <arg name="image_raw7" default="/image_raw7"/>
-  <arg name="camera_info7" default="/camera_info7"/>
-  <arg name="image_number" default="1" description="choose image raw number(0-7)"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="score_threshold" default="0.35"/>
-  <arg name="centerpoint_model_name" default="aip_xx1" />
-  <arg name="centerpoint_model_path" default="$(find-pkg-share ml_model_provider)/data/lidar_centerpoint"/>
-  <arg name="centerpoint_model_param_path" default="$(find-pkg-share ml_model_provider)/config/lidar_centerpoint/aip_xx1.param.yaml"/>
-
-  <!-- Jetson AGX -->
-  <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
-    <arg name="image_raw0" value="$(var image_raw0)"/>
-    <arg name="image_raw1" value="$(var image_raw1)"/>
-    <arg name="image_raw2" value="$(var image_raw2)"/>
-    <arg name="image_raw3" value="$(var image_raw3)"/>
-    <arg name="image_raw4" value="$(var image_raw4)"/>
-    <arg name="image_raw5" value="$(var image_raw5)"/>
-    <arg name="image_raw6" value="$(var image_raw6)"/>
-    <arg name="image_raw7" value="$(var image_raw7)"/>
-    <arg name="image_number" value="$(var image_number)"/>
-  </include> -->
-
-  <!-- Pointcloud map filter -->
-  <group>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
-      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
-      <arg name="use_intra_process" value="true"/>
-      <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
-    </include>
-  </group>
-
-  <!-- Clustering -->
-  <group>
-    <push-ros-namespace namespace="clustering"/>
-    <group>
-      <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-      <let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
-      <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
-        <arg name="output_clusters" value="clusters"/>
-        <arg name="use_pointcloud_map" value="false"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-      </include>
-    </group>
-    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-    <group>
-      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
-      </include>
-    </group>
-
-    <group>
-      <let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
-      <push-ros-namespace namespace="camera_lidar_fusion"/>
-      <!-- Fusion camera-lidar to classify -->
-      <group>
-        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
-          <arg name="input/camera_info0" value="$(var camera_info0)"/>
-          <arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
-          <arg name="input/camera_info1" value="$(var camera_info1)"/>
-          <arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
-          <arg name="input/camera_info2" value="$(var camera_info2)"/>
-          <arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
-          <arg name="input/camera_info3" value="$(var camera_info3)"/>
-          <arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
-          <arg name="input/camera_info4" value="$(var camera_info4)"/>
-          <arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
-          <arg name="input/camera_info5" value="$(var camera_info5)"/>
-          <arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
-          <arg name="input/camera_info6" value="$(var camera_info6)"/>
-          <arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
-          <arg name="input/camera_info7" value="$(var camera_info7)"/>
-          <arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
-          <arg name="input/rois_number" value="$(var image_number)"/>
-          <arg name="input/clusters" value="$(var input/clustering)"/>
-          <arg name="input/image0" value="$(var image_raw0)"/>
-          <arg name="input/image1" value="$(var image_raw1)"/>
-          <arg name="input/image2" value="$(var image_raw2)"/>
-          <arg name="input/image3" value="$(var image_raw3)"/>
-          <arg name="input/image4" value="$(var image_raw4)"/>
-          <arg name="input/image5" value="$(var image_raw5)"/>
-          <arg name="input/image6" value="$(var image_raw6)"/>
-          <arg name="input/image7" value="$(var image_raw7)"/>
-          <arg name="output/clusters" value="clusters"/>
-        </include>
-      </group>
-
-      <group>
-        <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-          <arg name="input/objects" value="clusters"/>
-          <arg name="output/objects" value="objects_with_feature"/>
-        </include>
-      </group>
-      <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-      <group>
-        <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-          <arg name="input" value="objects_with_feature"/>
-          <arg name="output" value="objects"/>
-        </include>
-      </group>
-
-      <group>
-        <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
-          <arg name="input/object" value="objects"/>
-          <arg name="output/long_range_object" value="long_range_objects"/>
-          <arg name="output/short_range_object" value="short_range_objects"/>
-          <arg name="split_range" value="30.0"/>
-        </include>
-      </group>
-    </group>
-  </group>
-
-  <!-- DetectionByTracker -->
-  <group>
-    <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
-  </group>
-
-  <!-- CenterPoint -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
-    <push-ros-namespace namespace="centerpoint"/>
-    <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="objects"/>
-        <arg name="score_threshold" value="$(var score_threshold)"/>
-        <arg name="model_name" value="$(var centerpoint_model_name)"/>
-        <arg name="model_path" value="$(var centerpoint_model_path)"/>
-        <arg name="model_param_path" value="$(var centerpoint_model_param_path)"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- Lidar Apollo Instance Segmentation -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
-    <push-ros-namespace namespace="apollo"/>
-    <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="labeled_clusters"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="labeled_clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_vehicle_reference_yaw" value="true"/>
-        <arg name="use_vehicle_reference_shape_size" value="false"/>
-      </include>
-    </group>
-
-    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-    <group>
-      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- PointPainting -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
-    <push-ros-namespace namespace="pointpainting"/>
-    <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var camera_info0)"/>
-      <arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="objects"/>
-    </include>
-  </group>
-
-  <!-- Validator -->
-  <group>
-    <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
-      <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
-    </include>
-  </group>
-
-  <!-- Merger -->
-  <group>
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var merger/input/objects)"/>
-      <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
-      <arg name="output/object" value="camera_lidar_fusion/objects"/>
-    </include>
-  </group>
-
-  <group>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="clustering/objects"/>
-      <arg name="input/object1" value="camera_lidar_fusion/objects"/>
-      <arg name="output/object" value="temporary_merged_objects"/>
-    </include>
-  </group>
-
-  <group>
-    <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
-    <let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="temporary_merged_objects"/>
-      <arg name="input/object1" value="detection_by_tracker/objects"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
-    </include>
-  </group>
-
-  <!-- Filter -->
-  <group>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="objects_before_filter"/>
-      <arg name="output/object" value="$(var output/objects)"/>
-      <arg name="filtering_range_param" value="$(find-pkg-share perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>
-    </include>
-  </group>
-</launch>
diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
deleted file mode 100644
index 86e37f80d4..0000000000
--- a/perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ /dev/null
@@ -1,76 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- lidar param -->
-  <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
-  <arg name="score_threshold" default="0.20"/>
-
-  <!-- camera param -->
-  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
-  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
-  <arg name="image_raw1" default="/image_raw1"/>
-  <arg name="camera_info1" default="/camera_info1"/>
-  <arg name="image_raw2" default="/image_raw2"/>
-  <arg name="camera_info2" default="/camera_info2"/>
-  <arg name="image_raw3" default="/image_raw3"/>
-  <arg name="camera_info3" default="/camera_info3"/>
-  <arg name="image_raw4" default="/image_raw4"/>
-  <arg name="camera_info4" default="/camera_info4"/>
-  <arg name="image_raw5" default="/image_raw5"/>
-  <arg name="camera_info5" default="/camera_info5"/>
-  <arg name="image_raw6" default="/image_raw6"/>
-  <arg name="camera_info6" default="/camera_info6"/>
-  <arg name="image_raw7" default="/image_raw7"/>
-  <arg name="camera_info7" default="/camera_info7"/>
-  <arg name="image_number" default="1" description="choose image raw number(0-7)"/>
-
-  <!-- camera lidar fusion based detection-->
-  <group>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="camera_lidar_fusion/objects"/>
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="image_number" value="$(var image_number)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
-      <arg name="score_threshold" value="$(var score_threshold)"/>
-    </include>
-  </group>
-
-  <!-- radar detection-->
-  <group>
-    <push-ros-namespace namespace="radar"/>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="front_center/objects"/>
-    </include>
-  </group>
-
-  <!-- camera lidar radar fusion-->
-  <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="camera_lidar_fusion/objects"/>
-    <arg name="input/radars" value="radar/objects"/>
-    <arg name="output/objects" value="objects"/>
-  </include>
-</launch>
diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
deleted file mode 100644
index c4a9c00e46..0000000000
--- a/perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ /dev/null
@@ -1,122 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
-
-  <!-- lidar param -->
-  <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
-
-  <!-- camera param -->
-  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
-  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
-  <arg name="image_raw1" default=""/>
-  <arg name="camera_info1" default=""/>
-  <arg name="image_raw2" default=""/>
-  <arg name="camera_info2" default=""/>
-  <arg name="image_raw3" default=""/>
-  <arg name="camera_info3" default=""/>
-  <arg name="image_raw4" default=""/>
-  <arg name="camera_info4" default=""/>
-  <arg name="image_raw5" default=""/>
-  <arg name="camera_info5" default=""/>
-  <arg name="image_raw6" default=""/>
-  <arg name="camera_info6" default=""/>
-  <arg name="image_raw7" default=""/>
-  <arg name="camera_info7" default=""/>
-  <arg name="image_number" default="1" description="choose image raw number(0-7)"/>
-
-  <!-- radar param -->
-
-  <!-- camera lidar radar fusion based detection-->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="image_number" value="$(var image_number)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
-    </include>
-  </group>
-
-  <!-- camera lidar fusion based detection-->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="image_number" value="$(var image_number)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
-    </include>
-  </group>
-
-  <!-- lidar radar based detection-->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
-    </include>
-  </group>
-
-  <!-- lidar based detection-->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
-    </include>
-  </group>
-
-  <!-- radar based detection-->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="objects"/>
-    </include>
-  </group>
-</launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
deleted file mode 100644
index 1a09e43a2e..0000000000
--- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ /dev/null
@@ -1,146 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="input/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="output/objects" default="objects"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="score_threshold" default="0.35"/>
-  <arg name="centerpoint_model_name" default="aip_xx1" />
-  <arg name="centerpoint_model_path" default="$(find-pkg-share ml_model_provider)/data/lidar_centerpoint"/>
-  <arg name="centerpoint_model_param_path" default="$(find-pkg-share ml_model_provider)/config/lidar_centerpoint/aip_xx1.param.yaml"/>
-
-  <!-- Pointcloud map filter -->
-  <group>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
-      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
-      <arg name="use_intra_process" value="true"/>
-      <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
-    </include>
-  </group>
-  <!-- Clustering -->
-  <group>
-    <push-ros-namespace namespace="clustering"/>
-    <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
-    <group>
-      <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
-        <arg name="output_clusters" value="clusters"/>
-        <arg name="use_pointcloud_map" value="false"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-      </include>
-    </group>
-
-    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-    <group>
-      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- DetectionByTracker -->
-  <group>
-    <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
-  </group>
-
-  <!-- CenterPoint -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
-    <push-ros-namespace namespace="centerpoint"/>
-    <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="objects"/>
-        <arg name="score_threshold" value="$(var score_threshold)"/>
-        <arg name="model_name" value="$(var centerpoint_model_name)"/>
-        <arg name="model_path" value="$(var centerpoint_model_path)"/>
-        <arg name="model_param_path" value="$(var centerpoint_model_param_path)"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- Lidar Apollo Instance Segmentation -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
-    <push-ros-namespace namespace="apollo"/>
-    <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="labeled_clusters"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="labeled_clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_vehicle_reference_yaw" value="true"/>
-        <arg name="use_vehicle_reference_shape_size" value="false"/>
-      </include>
-    </group>
-
-    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-    <group>
-      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- Validator -->
-  <group>
-    <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
-      <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
-    </include>
-  </group>
-
-  <!-- Merger -->
-  <group>
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var merger/input/objects)"/>
-      <arg name="input/object1" value="clustering/objects"/>
-      <arg name="output/object" value="temporary_merged_objects"/>
-    </include>
-  </group>
-
-  <group>
-    <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
-    <let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="temporary_merged_objects"/>
-      <arg name="input/object1" value="detection_by_tracker/objects"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
-    </include>
-  </group>
-
-  <!-- Filter -->
-  <group>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="objects_before_filter"/>
-      <arg name="output/object" value="$(var output/objects)"/>
-      <arg name="filtering_range_param" value="$(find-pkg-share perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>
-    </include>
-  </group>
-</launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
deleted file mode 100644
index 8150315c95..0000000000
--- a/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- lidar param -->
-  <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
-  <arg name="score_threshold" default="0.20"/>
-
-  <!-- lidar based detection-->
-  <group>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="lidar/objects"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
-      <arg name="score_threshold" value="$(var score_threshold)"/>
-    </include>
-  </group>
-
-  <!-- radar detection-->
-  <group>
-    <push-ros-namespace namespace="radar"/>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="objects"/>
-    </include>
-  </group>
-
-  <!-- lidar radar fusion-->
-  <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="lidar/objects"/>
-    <arg name="input/radars" value="radar/objects"/>
-    <arg name="output/objects" value="objects"/>
-  </include>
-</launch>
diff --git a/perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
deleted file mode 100644
index afcf9021c0..0000000000
--- a/perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
+++ /dev/null
@@ -1,168 +0,0 @@
-# Copyright 2022 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 os
-
-from ament_index_python.packages import get_package_share_directory
-import launch
-from launch.actions import DeclareLaunchArgument
-from launch.actions import OpaqueFunction
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-import yaml
-
-
-class PointcloudMapFilterPipeline:
-    def __init__(self, context):
-        pointcloud_map_filter_param_path = os.path.join(
-            get_package_share_directory("perception_launch"),
-            "config/object_recognition/detection/pointcloud_map_filter.param.yaml",
-        )
-        with open(pointcloud_map_filter_param_path, "r") as f:
-            self.pointcloud_map_filter_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-        self.use_down_sample_filter = self.pointcloud_map_filter_param["use_down_sample_filter"]
-        self.voxel_size = self.pointcloud_map_filter_param["down_sample_voxel_size"]
-        self.distance_threshold = self.pointcloud_map_filter_param["distance_threshold"]
-
-    def create_pipeline(self):
-        if self.use_down_sample_filter:
-            return self.create_down_sample_pipeline()
-        else:
-            return self.create_normal_pipeline()
-
-    def create_normal_pipeline(self):
-        components = []
-        components.append(
-            ComposableNode(
-                package="compare_map_segmentation",
-                plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
-                name="voxel_based_compare_map_filter",
-                remappings=[
-                    ("input", LaunchConfiguration("input_topic")),
-                    ("map", "/map/pointcloud_map"),
-                    ("output", LaunchConfiguration("output_topic")),
-                ],
-                parameters=[
-                    {
-                        "distance_threshold": self.distance_threshold,
-                    }
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": False},
-                ],
-            )
-        )
-        return components
-
-    def create_down_sample_pipeline(self):
-        components = []
-        down_sample_topic = (
-            "/perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud"
-        )
-        components.append(
-            ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
-                name="voxel_grid_downsample_filter",
-                remappings=[
-                    ("input", LaunchConfiguration("input_topic")),
-                    ("output", down_sample_topic),
-                ],
-                parameters=[
-                    {
-                        "voxel_size_x": self.voxel_size,
-                        "voxel_size_y": self.voxel_size,
-                        "voxel_size_z": self.voxel_size,
-                    }
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            ),
-        )
-        components.append(
-            ComposableNode(
-                package="compare_map_segmentation",
-                plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
-                name="voxel_based_compare_map_filter",
-                remappings=[
-                    ("input", down_sample_topic),
-                    ("map", "/map/pointcloud_map"),
-                    ("output", LaunchConfiguration("output_topic")),
-                ],
-                parameters=[
-                    {
-                        "distance_threshold": self.distance_threshold,
-                    }
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": False},
-                ],
-            )
-        )
-        return components
-
-
-def launch_setup(context, *args, **kwargs):
-    pipeline = PointcloudMapFilterPipeline(context)
-    components = []
-    components.extend(pipeline.create_pipeline())
-    individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=components,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-    pointcloud_container_loader = LoadComposableNodes(
-        composable_node_descriptions=components,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-    return [individual_container, pointcloud_container_loader]
-
-
-def generate_launch_description():
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None):
-        launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
-
-    add_launch_arg("input_topic", "")
-    add_launch_arg("output_topic", "")
-    add_launch_arg("use_multithread", "False")
-    add_launch_arg("use_intra_process", "True")
-    add_launch_arg("use_pointcloud_container", "False")
-    add_launch_arg("container_name", "pointcloud_map_filter_pipeline_container")
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-    return launch.LaunchDescription(
-        launch_arguments
-        + [set_container_executable, set_container_mt_executable]
-        + [OpaqueFunction(function=launch_setup)]
-    )
diff --git a/perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
deleted file mode 100644
index 21de187f12..0000000000
--- a/perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="output/objects" default="objects"/>
-
-  <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-    <arg name="input/radar_objects" value="/sensing/radar/front_center/objects_raw"/>
-    <arg name="input/odometry" value="/localization/kinematic_state"/>
-    <arg name="output/radar_objects" value="$(var output/objects)"/>
-    <arg name="update_rate_hz" value="20.0"/>
-    <arg name="use_twist_compensation" value="true"/>
-  </include>
-</launch>
diff --git a/perception_launch/launch/object_recognition/prediction/prediction.launch.xml b/perception_launch/launch/object_recognition/prediction/prediction.launch.xml
deleted file mode 100644
index fd9d1ba6f3..0000000000
--- a/perception_launch/launch/object_recognition/prediction/prediction.launch.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="use_vector_map" default="false" description="use vector map in prediction"/>
-
-  <group if="$(var use_vector_map)">
-    <set_remap from="objects" to="/perception/object_recognition/objects"/>
-    <include file="$(find-pkg-share map_based_prediction)/launch/map_based_prediction.launch.xml">
-      <arg name="output_topic" value="/perception/object_recognition/objects"/>
-    </include>
-  </group>
-  <group unless="$(var use_vector_map)">
-    <!-- Not support without vector map -->
-  </group>
-</launch>
diff --git a/perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
deleted file mode 100644
index 65ac62ef3b..0000000000
--- a/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="publish_rate" default="10.0"/>
-  <arg name="enable_delay_compensation" default="true"/>
-
-  <group>
-    <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
-      <arg name="data_association_matrix_path" value="$(find-pkg-share perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"/>
-      <arg name="publish_rate" value="$(var publish_rate)"/>
-      <arg name="enable_delay_compensation" value="$(var enable_delay_compensation)"/>
-    </include>
-  </group>
-</launch>
diff --git a/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
deleted file mode 100644
index f63af31655..0000000000
--- a/perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ /dev/null
@@ -1,539 +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 os
-
-from ament_index_python.packages import get_package_share_directory
-import launch
-from launch.actions import DeclareLaunchArgument
-from launch.actions import OpaqueFunction
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch.substitutions import PathJoinSubstitution
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-from launch_ros.substitutions import FindPackageShare
-import yaml
-
-
-class GroundSegmentationPipeline:
-    def __init__(self, context):
-        self.context = context
-        self.vehicle_info = self.get_vehicle_info()
-        ground_segmentation_param_path = os.path.join(
-            get_package_share_directory("perception_launch"),
-            "config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml",
-        )
-        with open(ground_segmentation_param_path, "r") as f:
-            self.ground_segmentation_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-        self.single_frame_obstacle_seg_output = (
-            "/perception/obstacle_segmentation/single_frame/pointcloud_raw"
-        )
-        self.output_topic = "/perception/obstacle_segmentation/pointcloud"
-        self.use_single_frame_filter = self.ground_segmentation_param["use_single_frame_filter"]
-        self.use_time_series_filter = self.ground_segmentation_param["use_time_series_filter"]
-
-    def get_vehicle_info(self):
-        # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support
-        # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py
-        gp = self.context.launch_configurations.get("ros_params", {})
-        if not gp:
-            gp = dict(self.context.launch_configurations.get("global_params", {}))
-        p = {}
-        p["vehicle_length"] = gp["front_overhang"] + gp["wheel_base"] + gp["rear_overhang"]
-        p["vehicle_width"] = gp["wheel_tread"] + gp["left_overhang"] + gp["right_overhang"]
-        p["min_longitudinal_offset"] = -gp["rear_overhang"]
-        p["max_longitudinal_offset"] = gp["front_overhang"] + gp["wheel_base"]
-        p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"])
-        p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"]
-        p["min_height_offset"] = 0.0
-        p["max_height_offset"] = gp["vehicle_height"]
-        return p
-
-    def get_vehicle_mirror_info(self):
-        path = LaunchConfiguration("vehicle_mirror_param_file").perform(self.context)
-        with open(path, "r") as f:
-            p = yaml.safe_load(f)
-        return p
-
-    def create_additional_pipeline(self, lidar_name):
-        components = []
-        components.append(
-            ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-                name=f"{lidar_name}_crop_box_filter",
-                remappings=[
-                    ("input", f"/sensing/lidar/{lidar_name}/outlier_filtered/pointcloud"),
-                    ("output", f"{lidar_name}/range_cropped/pointcloud"),
-                ],
-                parameters=[
-                    {
-                        "input_frame": LaunchConfiguration("base_frame"),
-                        "output_frame": LaunchConfiguration("base_frame"),
-                    },
-                    self.ground_segmentation_param[f"{lidar_name}_crop_box_filter"]["parameters"],
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        )
-
-        components.append(
-            ComposableNode(
-                package="ground_segmentation",
-                plugin=self.ground_segmentation_param[f"{lidar_name}_ground_filter"]["plugin"],
-                name=f"{lidar_name}_ground_filter",
-                remappings=[
-                    ("input", f"{lidar_name}/range_cropped/pointcloud"),
-                    ("output", f"{lidar_name}/pointcloud"),
-                ],
-                parameters=[
-                    self.ground_segmentation_param[f"{lidar_name}_ground_filter"]["parameters"]
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        )
-
-        return components
-
-    def create_ransac_pipeline(self):
-        components = []
-        components.append(
-            ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
-                name="concatenate_data",
-                namespace="plane_fitting",
-                remappings=[("output", "concatenated/pointcloud")],
-                parameters=[
-                    {
-                        "input_topics": self.ground_segmentation_param["ransac_input_topics"],
-                        "output_frame": LaunchConfiguration("base_frame"),
-                        "timeout_sec": 1.0,
-                    }
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        )
-
-        components.append(
-            ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-                name="short_height_obstacle_detection_area_filter",
-                namespace="plane_fitting",
-                remappings=[
-                    ("input", "concatenated/pointcloud"),
-                    ("output", "detection_area/pointcloud"),
-                ],
-                parameters=[
-                    {
-                        "input_frame": LaunchConfiguration("base_frame"),
-                        "output_frame": LaunchConfiguration("base_frame"),
-                    },
-                    self.ground_segmentation_param["short_height_obstacle_detection_area_filter"][
-                        "parameters"
-                    ],
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        )
-
-        components.append(
-            ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::Lanelet2MapFilterComponent",
-                name="vector_map_filter",
-                namespace="plane_fitting",
-                remappings=[
-                    ("input/pointcloud", "detection_area/pointcloud"),
-                    ("input/vector_map", "/map/vector_map"),
-                    ("output", "vector_map_filtered/pointcloud"),
-                ],
-                parameters=[
-                    {
-                        "voxel_size_x": 0.25,
-                        "voxel_size_y": 0.25,
-                    }
-                ],
-                # cannot use intra process because vector map filter uses transient local.
-                extra_arguments=[{"use_intra_process_comms": False}],
-            )
-        )
-
-        components.append(
-            ComposableNode(
-                package="ground_segmentation",
-                plugin="ground_segmentation::RANSACGroundFilterComponent",
-                name="ransac_ground_filter",
-                namespace="plane_fitting",
-                remappings=[
-                    ("input", "vector_map_filtered/pointcloud"),
-                    ("output", "pointcloud"),
-                ],
-                parameters=[self.ground_segmentation_param["ransac_ground_filter"]["parameters"]],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        )
-
-        return components
-
-    def create_common_pipeline(self, input_topic, output_topic):
-        components = []
-        components.append(
-            ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-                name="crop_box_filter",
-                remappings=[
-                    ("input", input_topic),
-                    ("output", "range_cropped/pointcloud"),
-                ],
-                parameters=[
-                    {
-                        "input_frame": LaunchConfiguration("base_frame"),
-                        "output_frame": LaunchConfiguration("base_frame"),
-                    },
-                    self.ground_segmentation_param["common_crop_box_filter"]["parameters"],
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        )
-
-        components.append(
-            ComposableNode(
-                package="ground_segmentation",
-                plugin=self.ground_segmentation_param["common_ground_filter"]["plugin"],
-                name="common_ground_filter",
-                remappings=[
-                    ("input", "range_cropped/pointcloud"),
-                    ("output", output_topic),
-                ],
-                parameters=[
-                    self.ground_segmentation_param["common_ground_filter"]["parameters"],
-                    self.vehicle_info,
-                    {"input_frame": "base_link"},
-                    {"output_frame": "base_link"},
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        )
-        return components
-
-    def create_single_frame_obstacle_segmentation_components(self, input_topic, output_topic):
-
-        additional_lidars = self.ground_segmentation_param["additional_lidars"]
-        use_ransac = bool(self.ground_segmentation_param["ransac_input_topics"])
-        use_additional = bool(additional_lidars)
-        relay_topic = "all_lidars/pointcloud"
-        common_pipeline_output = (
-            "single_frame/pointcloud" if use_additional or use_ransac else output_topic
-        )
-
-        components = self.create_common_pipeline(
-            input_topic=input_topic,
-            output_topic=common_pipeline_output,
-        )
-
-        if use_additional:
-            for lidar_name in additional_lidars:
-                components.extend(self.create_additional_pipeline(lidar_name))
-            components.append(
-                self.get_additional_lidars_concatenated_component(
-                    input_topics=[common_pipeline_output]
-                    + [f"{x}/pointcloud" for x in additional_lidars],
-                    output_topic=relay_topic if use_ransac else output_topic,
-                )
-            )
-
-        if use_ransac:
-            components.extend(self.create_ransac_pipeline())
-            components.append(
-                self.get_single_frame_obstacle_segmentation_concatenated_component(
-                    input_topics=[
-                        "plane_fitting/pointcloud",
-                        relay_topic if use_additional else common_pipeline_output,
-                    ],
-                    output_topic=output_topic,
-                )
-            )
-
-        return components
-
-    @staticmethod
-    def create_time_series_outlier_filter_components(input_topic, output_topic):
-        components = []
-        components.append(
-            ComposableNode(
-                package="occupancy_grid_map_outlier_filter",
-                plugin="occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent",
-                name="occupancy_grid_map_outlier_filter",
-                remappings=[
-                    ("~/input/occupancy_grid_map", "/perception/occupancy_grid_map/map"),
-                    ("~/input/pointcloud", input_topic),
-                    ("~/output/pointcloud", output_topic),
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        )
-
-        return components
-
-    @staticmethod
-    def create_single_frame_outlier_filter_components(input_topic, output_topic):
-        components = []
-        components.append(
-            ComposableNode(
-                package="elevation_map_loader",
-                plugin="ElevationMapLoaderNode",
-                name="elevation_map_loader",
-                namespace="elevation_map",
-                remappings=[
-                    ("output/elevation_map", "map"),
-                    ("input/pointcloud_map", "/map/pointcloud_map"),
-                    ("input/vector_map", "/map/vector_map"),
-                ],
-                parameters=[
-                    {
-                        "use_lane_filter": False,
-                        "use_inpaint": True,
-                        "inpaint_radius": 1.0,
-                        "param_file_path": PathJoinSubstitution(
-                            [
-                                FindPackageShare("perception_launch"),
-                                "config",
-                                "obstacle_segmentation",
-                                "ground_segmentation",
-                                "elevation_map_parameters.yaml",
-                            ]
-                        ),
-                        "elevation_map_directory": PathJoinSubstitution(
-                            [FindPackageShare("elevation_map_loader"), "data", "elevation_maps"]
-                        ),
-                        "use_elevation_map_cloud_publisher": False,
-                    }
-                ],
-                extra_arguments=[{"use_intra_process_comms": False}],
-            )
-        )
-
-        components.append(
-            ComposableNode(
-                package="compare_map_segmentation",
-                plugin="compare_map_segmentation::CompareElevationMapFilterComponent",
-                name="compare_elevation_map_filter",
-                namespace="elevation_map",
-                remappings=[
-                    ("input", input_topic),
-                    ("output", "map_filtered/pointcloud"),
-                    ("input/elevation_map", "map"),
-                ],
-                parameters=[
-                    {
-                        "map_frame": "map",
-                        "map_layer_name": "elevation",
-                        "height_diff_thresh": 0.15,
-                        "input_frame": "map",
-                        "output_frame": "base_link",
-                    }
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": False}
-                ],  # can't use this with transient_local
-            )
-        )
-
-        components.append(
-            ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
-                name="voxel_grid_filter",
-                namespace="elevation_map",
-                remappings=[
-                    ("input", "map_filtered/pointcloud"),
-                    ("output", "voxel_grid_filtered/pointcloud"),
-                ],
-                parameters=[
-                    {
-                        "input_frame": LaunchConfiguration("base_frame"),
-                        "output_frame": LaunchConfiguration("base_frame"),
-                        "voxel_size_x": 0.04,
-                        "voxel_size_y": 0.04,
-                        "voxel_size_z": 0.08,
-                    }
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        )
-
-        components.append(
-            ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::VoxelGridOutlierFilterComponent",
-                name="voxel_grid_outlier_filter",
-                namespace="elevation_map",
-                remappings=[
-                    ("input", "voxel_grid_filtered/pointcloud"),
-                    ("output", output_topic),
-                ],
-                parameters=[
-                    {
-                        "voxel_size_x": 0.4,
-                        "voxel_size_y": 0.4,
-                        "voxel_size_z": 100.0,
-                        "voxel_points_threshold": 5,
-                    }
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        )
-
-        return components
-
-    @staticmethod
-    def get_additional_lidars_concatenated_component(input_topics, output_topic):
-
-        return ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
-            name="concatenate_data",
-            remappings=[("output", output_topic)],
-            parameters=[
-                {
-                    "input_topics": input_topics,
-                    "output_frame": LaunchConfiguration("base_frame"),
-                }
-            ],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        )
-
-    @staticmethod
-    def get_single_frame_obstacle_segmentation_concatenated_component(input_topics, output_topic):
-        return ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
-            name="concatenate_no_ground_data",
-            remappings=[("output", output_topic)],
-            parameters=[
-                {
-                    "input_topics": input_topics,
-                    "output_frame": LaunchConfiguration("base_frame"),
-                }
-            ],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        )
-
-
-def launch_setup(context, *args, **kwargs):
-    pipeline = GroundSegmentationPipeline(context)
-
-    components = []
-    components.extend(
-        pipeline.create_single_frame_obstacle_segmentation_components(
-            input_topic=LaunchConfiguration("input/pointcloud"),
-            output_topic=pipeline.single_frame_obstacle_seg_output,
-        )
-    )
-
-    relay_topic = "single_frame/filtered/pointcloud"
-    if pipeline.use_single_frame_filter:
-        components.extend(
-            pipeline.create_single_frame_outlier_filter_components(
-                input_topic=pipeline.single_frame_obstacle_seg_output,
-                output_topic=relay_topic
-                if pipeline.use_time_series_filter
-                else pipeline.output_topic,
-                context=context,
-            )
-        )
-    if pipeline.use_time_series_filter:
-        components.extend(
-            pipeline.create_time_series_outlier_filter_components(
-                input_topic=relay_topic
-                if pipeline.use_single_frame_filter
-                else pipeline.single_frame_obstacle_seg_output,
-                output_topic=pipeline.output_topic,
-            )
-        )
-    individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=components,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-    pointcloud_container_loader = LoadComposableNodes(
-        composable_node_descriptions=components,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-    return [individual_container, pointcloud_container_loader]
-
-
-def generate_launch_description():
-
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None):
-        launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
-
-    add_launch_arg("base_frame", "base_link")
-    add_launch_arg("use_multithread", "False")
-    add_launch_arg("use_intra_process", "True")
-    add_launch_arg("use_pointcloud_container", "False")
-    add_launch_arg("container_name", "perception_pipeline_container")
-    add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    return launch.LaunchDescription(
-        launch_arguments
-        + [set_container_executable, set_container_mt_executable]
-        + [OpaqueFunction(function=launch_setup)]
-    )
diff --git a/perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py b/perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py
deleted file mode 100644
index d371fa4398..0000000000
--- a/perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py
+++ /dev/null
@@ -1,138 +0,0 @@
-# Copyright 2021 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.
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-
-
-def generate_launch_description():
-    def add_launch_arg(name: str, default_value=None):
-        return DeclareLaunchArgument(name, default_value=default_value)
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    composable_nodes = [
-        ComposableNode(
-            package="pointcloud_to_laserscan",
-            plugin="pointcloud_to_laserscan::PointCloudToLaserScanNode",
-            name="pointcloud_to_laserscan_node",
-            remappings=[
-                ("~/input/pointcloud", LaunchConfiguration("input/obstacle_pointcloud")),
-                ("~/output/laserscan", LaunchConfiguration("output/laserscan")),
-                ("~/output/pointcloud", LaunchConfiguration("output/pointcloud")),
-                ("~/output/ray", LaunchConfiguration("output/ray")),
-                ("~/output/stixel", LaunchConfiguration("output/stixel")),
-            ],
-            parameters=[
-                {
-                    "target_frame": "base_link",  # Leave disabled to output scan in pointcloud frame
-                    "transform_tolerance": 0.01,
-                    "min_height": 0.0,
-                    "max_height": 2.0,
-                    "angle_min": -3.141592,  # -M_PI
-                    "angle_max": 3.141592,  # M_PI
-                    "angle_increment": 0.00349065850,  # 0.20*M_PI/180.0
-                    "scan_time": 0.0,
-                    "range_min": 1.0,
-                    "range_max": 200.0,
-                    "use_inf": True,
-                    "inf_epsilon": 1.0,
-                    # Concurrency level, affects number of pointclouds queued for processing
-                    # and number of threads used
-                    # 0 : Detect number of cores
-                    # 1 : Single threaded
-                    # 2->inf : Parallelism level
-                    "concurrency_level": 1,
-                }
-            ],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        ),
-        ComposableNode(
-            package="probabilistic_occupancy_grid_map",
-            plugin="occupancy_grid_map::LaserscanBasedOccupancyGridMapNode",
-            name="occupancy_grid_map_node",
-            remappings=[
-                ("~/input/laserscan", LaunchConfiguration("output/laserscan")),
-                ("~/input/obstacle_pointcloud", LaunchConfiguration("input/obstacle_pointcloud")),
-                ("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")),
-                ("~/output/occupancy_grid_map", LaunchConfiguration("output")),
-            ],
-            parameters=[
-                {
-                    "map_resolution": 0.5,
-                    "use_height_filter": True,
-                    "input_obstacle_pointcloud": LaunchConfiguration("input_obstacle_pointcloud"),
-                    "input_obstacle_and_raw_pointcloud": LaunchConfiguration(
-                        "input_obstacle_and_raw_pointcloud"
-                    ),
-                }
-            ],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        ),
-    ]
-
-    occupancy_grid_map_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=composable_nodes,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
-    load_composable_nodes = LoadComposableNodes(
-        composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-
-    return LaunchDescription(
-        [
-            add_launch_arg("use_multithread", "false"),
-            add_launch_arg("use_intra_process", "false"),
-            add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
-            add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"),
-            add_launch_arg("output", "occupancy_grid"),
-            add_launch_arg("output/laserscan", "virtual_scan/laserscan"),
-            add_launch_arg("output/pointcloud", "virtual_scan/pointcloud"),
-            add_launch_arg("output/ray", "virtual_scan/ray"),
-            add_launch_arg("output/stixel", "virtual_scan/stixel"),
-            add_launch_arg("input_obstacle_pointcloud", "false"),
-            add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),
-            add_launch_arg("use_pointcloud_container", "False"),
-            add_launch_arg("container_name", "occupancy_grid_map_container"),
-            set_container_executable,
-            set_container_mt_executable,
-            occupancy_grid_map_container,
-            load_composable_nodes,
-        ]
-    )
diff --git a/perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py b/perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py
deleted file mode 100644
index 2feefdfb10..0000000000
--- a/perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py
+++ /dev/null
@@ -1,92 +0,0 @@
-# Copyright 2021 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.
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-
-
-def generate_launch_description():
-    def add_launch_arg(name: str, default_value=None):
-        return DeclareLaunchArgument(name, default_value=default_value)
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    composable_nodes = [
-        ComposableNode(
-            package="probabilistic_occupancy_grid_map",
-            plugin="occupancy_grid_map::PointcloudBasedOccupancyGridMapNode",
-            name="occupancy_grid_map_node",
-            remappings=[
-                ("~/input/obstacle_pointcloud", LaunchConfiguration("input/obstacle_pointcloud")),
-                ("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")),
-                ("~/output/occupancy_grid_map", LaunchConfiguration("output")),
-            ],
-            parameters=[
-                {
-                    "map_resolution": 0.5,
-                    "use_height_filter": True,
-                }
-            ],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        ),
-    ]
-
-    occupancy_grid_map_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=composable_nodes,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
-    load_composable_nodes = LoadComposableNodes(
-        composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-
-    return LaunchDescription(
-        [
-            add_launch_arg("use_multithread", "False"),
-            add_launch_arg("use_intra_process", "True"),
-            add_launch_arg("use_pointcloud_container", "False"),
-            add_launch_arg("container_name", "occupancy_grid_map_container"),
-            add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
-            add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"),
-            add_launch_arg("output", "occupancy_grid"),
-            set_container_executable,
-            set_container_mt_executable,
-            occupancy_grid_map_container,
-            load_composable_nodes,
-        ]
-    )
diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
deleted file mode 100644
index 814e663371..0000000000
--- a/perception_launch/launch/perception.launch.xml
+++ /dev/null
@@ -1,131 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- common parameters -->
-  <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the detection module"/>
-  <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`"/>
-  <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
-  <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
-  <arg name="image_raw1" default="/sensing/camera/camera1/image_rect_color"/>
-  <arg name="camera_info1" default="/sensing/camera/camera1/camera_info"/>
-  <arg name="image_raw2" default="/sensing/camera/camera2/image_rect_color"/>
-  <arg name="camera_info2" default="/sensing/camera/camera2/camera_info"/>
-  <arg name="image_raw3" default="/sensing/camera/camera3/image_rect_color"/>
-  <arg name="camera_info3" default="/sensing/camera/camera3/camera_info"/>
-  <arg name="image_raw4" default="/sensing/camera/camera4/image_rect_color"/>
-  <arg name="camera_info4" default="/sensing/camera/camera4/camera_info"/>
-  <arg name="image_raw5" default="/sensing/camera/camera5/image_rect_color"/>
-  <arg name="camera_info5" default="/sensing/camera/camera5/camera_info"/>
-  <arg name="image_raw6" default="/sensing/camera/camera6/image_rect_color"/>
-  <arg name="camera_info6" default="/sensing/camera/camera6/camera_info"/>
-  <arg name="image_raw7" default="/sensing/camera/camera7/image_rect_color"/>
-  <arg name="camera_info7" default="/sensing/camera/camera7/camera_info"/>
-  <arg name="image_number" default="6" description="choose image raw number(0-7)"/>
-  <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg
-    name="use_empty_dynamic_object_publisher"
-    default="false"
-    description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
-  />
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <!-- Traffic Light Recognition Parameters -->
-  <arg name="traffic_light_recognition/enable_fine_detection" default="true"/>
-
-  <!-- perception module -->
-  <group>
-    <push-ros-namespace namespace="perception"/>
-
-    <!-- object segmentation module -->
-    <group>
-      <push-ros-namespace namespace="obstacle_segmentation"/>
-      <include file="$(find-pkg-share perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
-        <arg name="base_frame" value="base_link"/>
-        <arg name="use_intra_process" value="true"/>
-        <arg name="use_multithread" value="true"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      </include>
-    </group>
-
-    <!-- occupancy grid map module -->
-    <group>
-      <push-ros-namespace namespace="occupancy_grid_map"/>
-      <include file="$(find-pkg-share perception_launch)/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py">
-        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
-        <arg name="input/raw_pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output" value="/perception/occupancy_grid_map/map"/>
-        <arg name="use_intra_process" value="true"/>
-        <arg name="use_multithread" value="true"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
-      </include>
-    </group>
-
-    <!-- object recognition module -->
-    <group unless="$(var use_empty_dynamic_object_publisher)">
-      <push-ros-namespace namespace="object_recognition"/>
-      <!-- detection module -->
-      <group>
-        <push-ros-namespace namespace="detection"/>
-        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection.launch.xml">
-          <arg name="mode" value="$(var mode)"/>
-          <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-          <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-          <arg name="image_raw0" value="$(var image_raw0)"/>
-          <arg name="camera_info0" value="$(var camera_info0)"/>
-          <arg name="image_raw1" value="$(var image_raw1)"/>
-          <arg name="camera_info1" value="$(var camera_info1)"/>
-          <arg name="image_raw2" value="$(var image_raw2)"/>
-          <arg name="camera_info2" value="$(var camera_info2)"/>
-          <arg name="image_raw3" value="$(var image_raw3)"/>
-          <arg name="camera_info3" value="$(var camera_info3)"/>
-          <arg name="image_raw4" value="$(var image_raw4)"/>
-          <arg name="camera_info4" value="$(var camera_info4)"/>
-          <arg name="image_raw5" value="$(var image_raw5)"/>
-          <arg name="camera_info5" value="$(var camera_info5)"/>
-          <arg name="image_raw6" value="$(var image_raw6)"/>
-          <arg name="camera_info6" value="$(var camera_info6)"/>
-          <arg name="image_raw7" value="$(var image_raw7)"/>
-          <arg name="camera_info7" value="$(var camera_info7)"/>
-          <arg name="image_number" value="$(var image_number)"/>
-          <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-          <arg name="use_object_filter" value="$(var use_object_filter)"/>
-          <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-          <arg name="container_name" value="$(var pointcloud_container_name)"/>
-        </include>
-      </group>
-      <!-- tracking module -->
-      <group>
-        <push-ros-namespace namespace="tracking"/>
-        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
-        </include>
-      </group>
-      <!-- prediction module -->
-      <group>
-        <push-ros-namespace namespace="prediction"/>
-        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
-          <arg name="use_vector_map" value="$(var use_vector_map)"/>
-        </include>
-      </group>
-    </group>
-
-    <group if="$(var use_empty_dynamic_object_publisher)">
-      <push-ros-namespace namespace="object_recognition"/>
-      <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
-        <remap from="~/output/objects" to="/perception/object_recognition/objects"/>
-      </node>
-    </group>
-
-    <!-- traffic light module -->
-    <!-- <group>
-      <push-ros-namespace namespace="traffic_light_recognition"/>
-      <include file="$(find-pkg-share perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">
-        <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
-      </include>
-    </group -->
-  </group>
-</launch>
diff --git a/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
deleted file mode 100644
index 8d3ca7452b..0000000000
--- a/perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="enable_image_decompressor" default="true" description="enable image decompressor"/>
-  <arg name="enable_fine_detection" default="true" description="enable fine position adjustment of traffic light"/>
-  <arg name="input/image" default="/sensing/camera/traffic_light/image_raw" description="image raw topic name for traffic light"/>
-  <arg name="input/camera_info" default="/sensing/camera/traffic_light/camera_info" description="camera info topic name for traffic light"/>
-  <arg name="fine_detector_label_path" default="$(find-pkg-share traffic_light_ssd_fine_detector)/data/voc_labels_tl.txt" description="fine detector label path"/>
-  <arg name="fine_detector_model_path" default="$(find-pkg-share traffic_light_ssd_fine_detector)/data/mb2-ssd-lite-tlr.onnx" description="fine detector onnx model path"/>
-  <arg name="classifier_label_path" default="$(find-pkg-share traffic_light_classifier)/data/lamp_labels.txt" description="classifier label path"/>
-  <arg name="classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data/traffic_light_classifier_mobilenetv2.onnx" description="classifier onnx model path"/>
-  <arg name="use_crosswalk_traffic_light_estimator" default="true" description="output pedestrian's traffic light signals"/>
-
-  <group if="$(var enable_fine_detection)">
-    <include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
-      <arg name="input/camera_info" value="$(var input/camera_info)"/>
-      <arg name="output/rois" value="rough/rois"/>
-    </include>
-  </group>
-
-  <group unless="$(var enable_fine_detection)">
-    <include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
-      <arg name="output/rois" value="rois"/>
-      <arg name="input/camera_info" value="$(var input/camera_info)"/>
-    </include>
-  </group>
-
-  <!-- classification -->
-  <group>
-    <include file="$(find-pkg-share perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
-      <arg name="input/image" value="$(var input/image)"/>
-      <arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
-      <arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
-      <arg name="use_crosswalk_traffic_light_estimator" value="$(var use_crosswalk_traffic_light_estimator)"/>
-      <arg name="use_intra_process" value="true"/>
-      <arg name="use_multithread" value="true"/>
-      <arg name="label_file" value="$(var fine_detector_label_path)"/>
-      <arg name="onnx_file" value="$(var fine_detector_model_path)"/>
-      <arg name="label_file_path" value="$(var classifier_label_path)"/>
-      <arg name="model_file_path" value="$(var classifier_model_path)"/>
-    </include>
-  </group>
-
-  <!-- visualizer -->
-  <group>
-    <include file="$(find-pkg-share traffic_light_visualization)/launch/traffic_light_map_visualizer.launch.xml"/>
-  </group>
-</launch>
diff --git a/perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py b/perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py
deleted file mode 100644
index 8827dfbb98..0000000000
--- a/perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py
+++ /dev/null
@@ -1,252 +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 os
-
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-
-
-def generate_launch_description():
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None, description=None):
-        # a default_value of None is equivalent to not passing that kwarg at all
-        launch_arguments.append(
-            DeclareLaunchArgument(name, default_value=default_value, description=description)
-        )
-
-    ssd_fine_detector_share_dir = get_package_share_directory("traffic_light_ssd_fine_detector")
-    classifier_share_dir = get_package_share_directory("traffic_light_classifier")
-    add_launch_arg("enable_image_decompressor", "True")
-    add_launch_arg("enable_fine_detection", "True")
-    add_launch_arg("input/image", "/sensing/camera/traffic_light/image_raw")
-
-    # traffic_light_ssd_fine_detector
-    add_launch_arg(
-        "onnx_file", os.path.join(ssd_fine_detector_share_dir, "data", "mb2-ssd-lite-tlr.onnx")
-    )
-    add_launch_arg(
-        "label_file", os.path.join(ssd_fine_detector_share_dir, "data", "voc_labels_tl.txt")
-    )
-    add_launch_arg("fine_detector_precision", "FP32")
-    add_launch_arg("score_thresh", "0.7")
-    add_launch_arg("max_batch_size", "8")
-    add_launch_arg("approximate_sync", "False")
-    add_launch_arg("mean", "[0.5, 0.5, 0.5]")
-    add_launch_arg("std", "[0.5, 0.5, 0.5]")
-
-    # traffic_light_classifier
-    add_launch_arg("classifier_type", "1")
-    add_launch_arg(
-        "model_file_path",
-        os.path.join(classifier_share_dir, "data", "traffic_light_classifier_mobilenetv2.onnx"),
-    )
-    add_launch_arg("label_file_path", os.path.join(classifier_share_dir, "data", "lamp_labels.txt"))
-    add_launch_arg("precision", "fp16")
-    add_launch_arg("input_c", "3")
-    add_launch_arg("input_h", "224")
-    add_launch_arg("input_w", "224")
-
-    add_launch_arg("use_crosswalk_traffic_light_estimator", "True")
-    add_launch_arg("use_intra_process", "False")
-    add_launch_arg("use_multithread", "False")
-
-    def create_parameter_dict(*args):
-        result = {}
-        for x in args:
-            result[x] = LaunchConfiguration(x)
-        return result
-
-    container = ComposableNodeContainer(
-        name="traffic_light_node_container",
-        namespace="/perception/traffic_light_recognition",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[
-            ComposableNode(
-                package="traffic_light_classifier",
-                plugin="traffic_light::TrafficLightClassifierNodelet",
-                name="traffic_light_classifier",
-                parameters=[
-                    create_parameter_dict(
-                        "approximate_sync",
-                        "classifier_type",
-                        "model_file_path",
-                        "label_file_path",
-                        "precision",
-                        "input_c",
-                        "input_h",
-                        "input_w",
-                    )
-                ],
-                remappings=[
-                    ("~/input/image", LaunchConfiguration("input/image")),
-                    ("~/input/rois", "rois"),
-                    ("~/output/traffic_signals", "classified/traffic_signals"),
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            ),
-            ComposableNode(
-                package="traffic_light_visualization",
-                plugin="traffic_light::TrafficLightRoiVisualizerNodelet",
-                name="traffic_light_roi_visualizer",
-                parameters=[create_parameter_dict("enable_fine_detection")],
-                remappings=[
-                    ("~/input/image", LaunchConfiguration("input/image")),
-                    ("~/input/rois", "rois"),
-                    ("~/input/rough/rois", "rough/rois"),
-                    ("~/input/traffic_signals", "traffic_signals"),
-                    ("~/output/image", "debug/rois"),
-                    ("~/output/image/compressed", "debug/rois/compressed"),
-                    ("~/output/image/compressedDepth", "debug/rois/compressedDepth"),
-                    ("~/output/image/theora", "debug/rois/theora"),
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            ),
-        ],
-        output="both",
-    )
-
-    estimator_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            ComposableNode(
-                package="crosswalk_traffic_light_estimator",
-                plugin="traffic_light::CrosswalkTrafficLightEstimatorNode",
-                name="crosswalk_traffic_light_estimator",
-                remappings=[
-                    ("~/input/vector_map", "/map/vector_map"),
-                    ("~/input/route", "/planning/mission_planning/route"),
-                    ("~/input/classified/traffic_signals", "classified/traffic_signals"),
-                    ("~/output/traffic_signals", "traffic_signals"),
-                ],
-                extra_arguments=[{"use_intra_process_comms": False}],
-            ),
-        ],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("use_crosswalk_traffic_light_estimator")),
-    )
-
-    relay_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            ComposableNode(
-                package="topic_tools",
-                plugin="topic_tools::RelayNode",
-                name="classified_signals_relay",
-                namespace="",
-                parameters=[
-                    {"input_topic": "classified/traffic_signals"},
-                    {"output_topic": "traffic_signals"},
-                    {"type": "autoware_auto_perception_msgs/msg/TrafficSignalArray"},
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        ],
-        target_container=container,
-        condition=UnlessCondition(LaunchConfiguration("use_crosswalk_traffic_light_estimator")),
-    )
-
-    decompressor_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            ComposableNode(
-                package="image_transport_decompressor",
-                plugin="image_preprocessor::ImageTransportDecompressor",
-                name="traffic_light_image_decompressor",
-                parameters=[{"encoding": "rgb8"}],
-                remappings=[
-                    (
-                        "~/input/compressed_image",
-                        [LaunchConfiguration("input/image"), "/compressed"],
-                    ),
-                    ("~/output/raw_image", LaunchConfiguration("input/image")),
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            ),
-        ],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("enable_image_decompressor")),
-    )
-
-    ssd_fine_detector_param = create_parameter_dict(
-        "onnx_file",
-        "label_file",
-        "score_thresh",
-        "max_batch_size",
-        "approximate_sync",
-        "mean",
-        "std",
-    )
-    ssd_fine_detector_param["mode"] = LaunchConfiguration("fine_detector_precision")
-
-    fine_detector_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            ComposableNode(
-                package="traffic_light_ssd_fine_detector",
-                plugin="traffic_light::TrafficLightSSDFineDetectorNodelet",
-                name="traffic_light_ssd_fine_detector",
-                parameters=[ssd_fine_detector_param],
-                remappings=[
-                    ("~/input/image", LaunchConfiguration("input/image")),
-                    ("~/input/rois", "rough/rois"),
-                    ("~/output/rois", "rois"),
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            ),
-        ],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("enable_fine_detection")),
-    )
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    return LaunchDescription(
-        [
-            *launch_arguments,
-            set_container_executable,
-            set_container_mt_executable,
-            container,
-            decompressor_loader,
-            fine_detector_loader,
-            estimator_loader,
-            relay_loader,
-        ]
-    )
diff --git a/perception_launch/package.xml b/perception_launch/package.xml
deleted file mode 100644
index b593cacef6..0000000000
--- a/perception_launch/package.xml
+++ /dev/null
@@ -1,44 +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>perception_launch</name>
-  <version>0.1.0</version>
-  <description>The perception_launch package</description>
-  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
-  <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <exec_depend>compare_map_segmentation</exec_depend>
-  <exec_depend>crosswalk_traffic_light_estimator</exec_depend>
-  <exec_depend>detected_object_feature_remover</exec_depend>
-  <exec_depend>detected_object_validation</exec_depend>
-  <exec_depend>detection_by_tracker</exec_depend>
-  <exec_depend>euclidean_cluster</exec_depend>
-  <exec_depend>ground_segmentation</exec_depend>
-  <exec_depend>image_projection_based_fusion</exec_depend>
-  <exec_depend>image_transport_decompressor</exec_depend>
-  <exec_depend>lidar_apollo_instance_segmentation</exec_depend>
-  <exec_depend>map_based_prediction</exec_depend>
-  <exec_depend>multi_object_tracker</exec_depend>
-  <exec_depend>object_merger</exec_depend>
-  <exec_depend>object_range_splitter</exec_depend>
-  <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
-  <exec_depend>pointcloud_to_laserscan</exec_depend>
-  <exec_depend>probabilistic_occupancy_grid_map</exec_depend>
-  <exec_depend>shape_estimation</exec_depend>
-  <exec_depend>tensorrt_yolo</exec_depend>
-  <exec_depend>traffic_light_classifier</exec_depend>
-  <exec_depend>traffic_light_map_based_detector</exec_depend>
-  <exec_depend>traffic_light_ssd_fine_detector</exec_depend>
-  <exec_depend>traffic_light_visualization</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>
diff --git a/perception_launch/perception_launch.drawio.svg b/perception_launch/perception_launch.drawio.svg
deleted file mode 100644
index 49bfa1f700..0000000000
--- a/perception_launch/perception_launch.drawio.svg
+++ /dev/null
@@ -1,309 +0,0 @@
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-                                perception.launch.xml
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-                                <br/>
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-                                        package: perception_launch
-                                    </span>
-                                </div>
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-                <text x="95" y="224" fill="#0A0A0A" font-family="Helvetica" font-size="12px" text-anchor="middle">
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-                        <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; ">
-                                launch name
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: package name
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="160" y="59" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
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-                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
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-                                ex:
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-                        </div>
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-                </foreignObject>
-                <text x="40" y="72" fill="#000000" font-family="Helvetica" font-size="40px" text-anchor="middle">
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-        <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: 148px; height: 1px; padding-top: 55px; margin-left: 271px;">
-                        <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; ">
-                                node name
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: package name
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="345" y="59" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    node name...
-                </text>
-            </switch>
-        </g>
-        <rect x="450" y="0" width="150" height="110" fill="#d5e8d4" stroke="#82b366" 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: 148px; height: 1px; padding-top: 55px; margin-left: 451px;">
-                        <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; ">
-                                other name
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: package name
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="525" y="59" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    other name...
-                </text>
-            </switch>
-        </g>
-        <path d="M 395 170 L 555 220 L 395 270 L 235 220 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" 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: 318px; height: 1px; padding-top: 220px; margin-left: 236px;">
-                        <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; ">
-                                $(var use_empty_dynamic_object_publisher)
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="395" y="224" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    $(var use_empty_dynamic_object_publisher)
-                </text>
-            </switch>
-        </g>
-        <rect x="680" y="170" width="240" 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: 238px; height: 1px; padding-top: 220px; margin-left: 681px;">
-                        <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; ">
-                                detection.launch.xml
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: perception_launch
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="800" y="224" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    detection.launch.xml...
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-            </switch>
-        </g>
-        <path d="M 555 220 L 673.63 220" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
-        <path d="M 678.88 220 L 671.88 223.5 L 673.63 220 L 671.88 216.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" 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: 1px; height: 1px; padding-top: 221px; margin-left: 581px;">
-                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
-                            <div style="display: inline-block; font-size: 15px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; background-color: #ffffff; white-space: nowrap; ">
-                                False
-                            </div>
-                        </div>
-                    </div>
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-                <text x="581" y="225" fill="#000000" font-family="Helvetica" font-size="15px" text-anchor="middle">
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-                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 238px; height: 1px; padding-top: 340px; margin-left: 681px;">
-                        <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; ">
-                                tracking.launch.xml
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: perception_launch
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="800" y="344" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    tracking.launch.xml...
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-        <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: 238px; height: 1px; padding-top: 460px; margin-left: 681px;">
-                        <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; ">
-                                prediction.launch.xml
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: perception_launch
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="800" y="464" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    prediction.launch.xml...
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-        <rect x="680" y="530" width="240" height="110" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/>
-        <g transform="translate(-0.5 -0.5)">
-            <switch>
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-                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 238px; height: 1px; padding-top: 585px; margin-left: 681px;">
-                        <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; ">
-                                empty_objects_publisher
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: dummy_perception_publisher
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="800" y="589" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    empty_objects_publisher...
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-        <rect x="250" y="660" width="240" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/>
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-                        <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; ">
-                                traffic_light_recognition.launch.xml
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: perception_launch
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
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-                <text x="370" y="714" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
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-    <switch>
-        <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
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-            <text text-anchor="middle" font-size="10px" x="50%" y="100%">
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diff --git a/planning_launch/CMakeLists.txt b/planning_launch/CMakeLists.txt
deleted file mode 100644
index de7ef164be..0000000000
--- a/planning_launch/CMakeLists.txt
+++ /dev/null
@@ -1,23 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(planning_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(-Wno-unused-parameter -Wall -Wextra -Wpedantic)
-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/planning_launch/README.md b/planning_launch/README.md
deleted file mode 100644
index 84bf70d26b..0000000000
--- a/planning_launch/README.md
+++ /dev/null
@@ -1,16 +0,0 @@
-# planning_launch
-
-## Structure
-
-![planning_launch](./planning_launch.drawio.svg)
-
-## Package Dependencies
-
-Please see `<exec_depend>` in `package.xml`.
-
-## Usage
-
-```xml
-<include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
-</include>
-```
diff --git a/planning_launch/config/planning_diagnostics/planning_error_monitor.param.yaml b/planning_launch/config/planning_diagnostics/planning_error_monitor.param.yaml
deleted file mode 100644
index d52f24553b..0000000000
--- a/planning_launch/config/planning_diagnostics/planning_error_monitor.param.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-/**:
-  ros__parameters:
-    # trajectory check
-    error_interval: 100.0 # error interval distance threshold [m]
-    error_curvature: 2.0 # error curvature threshold [rad/m]
-    error_sharp_angle: 0.785398 # error sharp angle threshold [rad]
-    ignore_too_close_points: 0.01 # ignore too close distance threshold [m]
diff --git a/planning_launch/launch/mission_planning/mission_planning.launch.xml b/planning_launch/launch/mission_planning/mission_planning.launch.xml
deleted file mode 100644
index c1ace97b97..0000000000
--- a/planning_launch/launch/mission_planning/mission_planning.launch.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<launch>
-  <group>
-    <include file="$(find-pkg-share mission_planner)/launch/mission_planner.launch.xml"/>
-  </group>
-
-  <group>
-    <include file="$(find-pkg-share mission_planner)/launch/goal_pose_visualizer.launch.xml"/>
-  </group>
-</launch>
diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml
deleted file mode 100644
index 861a30a7c9..0000000000
--- a/planning_launch/launch/planning.launch.xml
+++ /dev/null
@@ -1,49 +0,0 @@
-<launch>
-  <arg name="use_foa" default="false" />
-  <arg name="use_perfect_lane_change" default="true" />
-
-  <!-- planning module -->
-
-  <!-- pointcloud container -->
-  <arg name="use_pointcloud_container" default="false"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="cruise_planner_type" default="obstacle_stop_planner"/>
-
-  <group>
-    <let name="disuse_foa" value="false" if="$(var use_foa)"/>
-    <let name="disuse_foa" value="true" unless="$(var use_foa)"/>
-
-    <push-ros-namespace namespace="planning"/>
-    <!-- mission planning module -->
-    <group>
-      <push-ros-namespace namespace="mission_planning"/>
-      <include file="$(find-pkg-share planning_launch)/launch/mission_planning/mission_planning.launch.xml"/>
-    </group>
-
-    <!-- scenario planning module -->
-    <group>
-      <push-ros-namespace namespace="scenario_planning"/>
-      <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/scenario_planning.launch.xml">
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-        <arg name="cruise_planner_type" value="$(var cruise_planner_type)" />
-        <arg name="disuse_foa" value="$(var disuse_foa)" />
-        <arg name="use_perfect_lane_change" value="$(var use_perfect_lane_change)" />
-      </include>
-    </group>
-
-    <!-- planning error monitor -->
-    <group>
-      <push-ros-namespace namespace="planning_diagnostics"/>
-      <include file="$(find-pkg-share planning_launch)/launch/planning_diagnostics/planning_error_monitor.launch.xml">
-      </include>
-    </group>
-
-    <!-- planning debug tools -->
-    <group>
-      <push-ros-namespace namespace="planning_debug_tools"/>
-      <include file="$(find-pkg-share planning_debug_tools)/launch/stop_reason_visualizer.launch.xml">
-      </include>
-    </group>
-  </group>
-</launch>
diff --git a/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml b/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml
deleted file mode 100644
index e3960f8ec0..0000000000
--- a/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <!-- planning_error_monitor -->
-  <group>
-    <include file="$(find-pkg-share planning_error_monitor)/launch/planning_error_monitor.launch.xml">
-      <!-- load config a file -->
-      <arg name="planning_error_monitor_param_path" value="$(find-pkg-share planning_launch)/config/planning_diagnostics/planning_error_monitor.param.yaml" />
-    </include>
-  </group>
-</launch>
diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml
deleted file mode 100644
index 625f3f23e5..0000000000
--- a/planning_launch/launch/scenario_planning/lane_driving.launch.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<launch>
-  <!-- common param -->
-  <arg name="common_param_path"/>
-
-  <!-- pointcloud container -->
-  <arg name="use_pointcloud_container"/>
-  <arg name="pointcloud_container_name"/>
-  <arg name="cruise_planner_type"/>
-  <arg name="disuse_foa" />
-  <arg name="use_perfect_lane_change" />
-
-  <!-- lane_driving scenario -->
-  <group>
-    <push-ros-namespace namespace="lane_driving"/>
-    <!-- behavior planning module -->
-    <group>
-      <push-ros-namespace namespace="behavior_planning"/>
-      <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py">
-        <arg name="use_multithread" value="true" />
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
-      </include>
-      <let name="rtc_auto_mode_manager_param_path" value="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml" if="$(var disuse_foa)"/>
-      <let name="rtc_auto_mode_manager_param_path" value="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml" unless="$(var disuse_foa)"/>
-      <include file="$(find-pkg-share rtc_auto_mode_manager)/launch/rtc_auto_mode_manager.launch.xml">
-        <arg name="param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
-      </include>
-    </group>
-
-    <!-- motion planning module -->
-    <group>
-      <push-ros-namespace namespace="motion_planning"/>
-      <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py">
-        <arg name="use_multithread" value="true" />
-        <arg name="cruise_planner_type" value="$(var cruise_planner_type)" />
-      </include>
-    </group>
-  </group>
-</launch>
diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
deleted file mode 100644
index 5fc11bab24..0000000000
--- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
+++ /dev/null
@@ -1,522 +0,0 @@
-# Copyright 2021 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 os
-
-from ament_index_python.packages import get_package_share_directory
-import launch
-from launch.actions import DeclareLaunchArgument
-from launch.actions import IncludeLaunchDescription
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-from launch.substitutions import PythonExpression
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import SetParameter
-from launch_ros.descriptions import ComposableNode
-from launch_ros.substitutions import FindPackageShare
-import yaml
-
-
-def generate_launch_description():
-    nearest_search_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "common",
-        "nearest_search.param.yaml",
-    )
-    with open(nearest_search_param_path, "r") as f:
-        nearest_search_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    # behavior path planner
-    side_shift_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_path_planner",
-        "side_shift",
-        "side_shift.param.yaml",
-    )
-    with open(side_shift_param_path, "r") as f:
-        side_shift_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    avoidance_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_path_planner",
-        "avoidance",
-        "avoidance.param.yaml",
-    )
-    with open(avoidance_param_path, "r") as f:
-        avoidance_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    lane_change_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_path_planner",
-        "lane_change",
-        "lane_change.param.yaml",
-    )
-    with open(lane_change_param_path, "r") as f:
-        lane_change_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    lane_following_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_path_planner",
-        "lane_following",
-        "lane_following.param.yaml",
-    )
-    with open(lane_following_param_path, "r") as f:
-        lane_following_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    pull_over_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_path_planner",
-        "pull_over",
-        "pull_over.param.yaml",
-    )
-    with open(pull_over_param_path, "r") as f:
-        pull_over_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    pull_out_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_path_planner",
-        "pull_out",
-        "pull_out.param.yaml",
-    )
-    with open(pull_out_param_path, "r") as f:
-        pull_out_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    drivable_area_expansion_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_path_planner",
-        "drivable_area_expansion.param.yaml",
-    )
-    with open(drivable_area_expansion_param_path, "r") as f:
-        drivable_area_expansion_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    behavior_path_planner_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_path_planner",
-        "behavior_path_planner.param.yaml",
-    )
-    with open(behavior_path_planner_param_path, "r") as f:
-        behavior_path_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    behavior_path_planner_component = ComposableNode(
-        package="behavior_path_planner",
-        plugin="behavior_path_planner::BehaviorPathPlannerNode",
-        name="behavior_path_planner",
-        namespace="",
-        remappings=[
-            ("~/input/route", LaunchConfiguration("input_route_topic_name")),
-            ("~/input/vector_map", LaunchConfiguration("map_topic_name")),
-            ("~/input/perception", "/perception/object_recognition/objects"),
-            ("~/input/odometry", "/localization/kinematic_state"),
-            ("~/input/accel", "/localization/acceleration"),
-            ("~/input/scenario", "/planning/scenario_planning/scenario"),
-            ("~/output/path", "path_with_lane_id"),
-            ("~/output/turn_indicators_cmd", "/planning/turn_indicators_cmd"),
-            ("~/output/hazard_lights_cmd", "/planning/hazard_lights_cmd"),
-        ],
-        parameters=[
-            nearest_search_param,
-            side_shift_param,
-            avoidance_param,
-            lane_change_param,
-            lane_following_param,
-            pull_over_param,
-            pull_out_param,
-            drivable_area_expansion_param,
-            behavior_path_planner_param,
-            {
-                "planning_hz": 10.0,
-                "lane_change.enable_abort_lane_change": LaunchConfiguration(
-                    "use_perfect_lane_change"
-                ),
-                "lane_change.enable_collision_check_at_prepare_phase": LaunchConfiguration(
-                    "use_perfect_lane_change"
-                ),
-                "lane_change.use_predicted_path_outside_lanelet": LaunchConfiguration(
-                    "use_perfect_lane_change"
-                ),
-                "lane_change.use_all_predicted_path": LaunchConfiguration(
-                    "use_perfect_lane_change"
-                ),
-                "bt_tree_config_path": LaunchConfiguration("bt_tree_config_path"),
-            },
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    # smoother param
-    common_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "common",
-        "common.param.yaml",
-    )
-    with open(common_param_path, "r") as f:
-        common_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    motion_velocity_smoother_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "common",
-        "motion_velocity_smoother",
-        "motion_velocity_smoother.param.yaml",
-    )
-    with open(motion_velocity_smoother_param_path, "r") as f:
-        motion_velocity_smoother_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    smoother_type_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "common",
-        "motion_velocity_smoother",
-        "Analytical.param.yaml",
-    )
-    with open(smoother_type_param_path, "r") as f:
-        smoother_type_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    # behavior velocity planner
-    blind_spot_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_velocity_planner",
-        "blind_spot.param.yaml",
-    )
-    with open(blind_spot_param_path, "r") as f:
-        blind_spot_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    crosswalk_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_velocity_planner",
-        "crosswalk.param.yaml",
-    )
-    with open(crosswalk_param_path, "r") as f:
-        crosswalk_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    detection_area_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_velocity_planner",
-        "detection_area.param.yaml",
-    )
-    with open(detection_area_param_path, "r") as f:
-        detection_area_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    intersection_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_velocity_planner",
-        "intersection.param.yaml",
-    )
-    with open(intersection_param_path, "r") as f:
-        intersection_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    stop_line_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_velocity_planner",
-        "stop_line.param.yaml",
-    )
-    with open(stop_line_param_path, "r") as f:
-        stop_line_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    traffic_light_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_velocity_planner",
-        "traffic_light.param.yaml",
-    )
-    with open(traffic_light_param_path, "r") as f:
-        traffic_light_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    virtual_traffic_light_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_velocity_planner",
-        "virtual_traffic_light.param.yaml",
-    )
-    with open(virtual_traffic_light_param_path, "r") as f:
-        virtual_traffic_light_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    occlusion_spot_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_velocity_planner",
-        "occlusion_spot.param.yaml",
-    )
-    with open(occlusion_spot_param_path, "r") as f:
-        occlusion_spot_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    no_stopping_area_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_velocity_planner",
-        "no_stopping_area.param.yaml",
-    )
-    with open(no_stopping_area_param_path, "r") as f:
-        no_stopping_area_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    run_out_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_velocity_planner",
-        "run_out.param.yaml",
-    )
-    with open(run_out_param_path, "r") as f:
-        run_out_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    behavior_velocity_planner_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "behavior_planning",
-        "behavior_velocity_planner",
-        "behavior_velocity_planner.param.yaml",
-    )
-    with open(behavior_velocity_planner_param_path, "r") as f:
-        behavior_velocity_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    behavior_velocity_planner_component = ComposableNode(
-        package="behavior_velocity_planner",
-        plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode",
-        name="behavior_velocity_planner",
-        namespace="",
-        remappings=[
-            ("~/input/path_with_lane_id", "path_with_lane_id"),
-            ("~/input/vector_map", "/map/vector_map"),
-            ("~/input/vehicle_odometry", "/localization/kinematic_state"),
-            ("~/input/accel", "/localization/acceleration"),
-            ("~/input/dynamic_objects", "/perception/object_recognition/objects"),
-            (
-                "~/input/no_ground_pointcloud",
-                "/perception/obstacle_segmentation/pointcloud",
-            ),
-            (
-                "~/input/compare_map_filtered_pointcloud",
-                "compare_map_filtered/pointcloud",
-            ),
-            (
-                "~/input/traffic_signals",
-                "/perception/traffic_light_recognition/traffic_signals",
-            ),
-            (
-                "~/input/external_traffic_signals",
-                "/external/traffic_light_recognition/traffic_signals",
-            ),
-            (
-                "~/input/external_velocity_limit_mps",
-                "/planning/scenario_planning/max_velocity_default",
-            ),
-            ("~/input/virtual_traffic_light_states", "/awapi/tmp/virtual_traffic_light_states"),
-            (
-                "~/input/occupancy_grid",
-                "/perception/occupancy_grid_map/map",
-            ),
-            ("~/output/path", "path"),
-            ("~/output/stop_reasons", "/planning/scenario_planning/status/stop_reasons"),
-            (
-                "~/output/infrastructure_commands",
-                "/planning/scenario_planning/status/infrastructure_commands",
-            ),
-            ("~/output/traffic_signal", "debug/traffic_signal"),
-        ],
-        parameters=[
-            behavior_velocity_planner_param,
-            common_param,
-            nearest_search_param,
-            motion_velocity_smoother_param,
-            smoother_type_param,
-            blind_spot_param,
-            crosswalk_param,
-            detection_area_param,
-            intersection_param,
-            stop_line_param,
-            traffic_light_param,
-            virtual_traffic_light_param,
-            occlusion_spot_param,
-            no_stopping_area_param,
-            run_out_param,
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    container = ComposableNodeContainer(
-        name="behavior_planning_container",
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[
-            behavior_path_planner_component,
-            behavior_velocity_planner_component,
-        ],
-        output="screen",
-    )
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    # This condition is true if run_out module is enabled and its detection method is Points
-    launch_run_out_with_points_method = PythonExpression(
-        [
-            LaunchConfiguration(
-                "launch_run_out", default=behavior_velocity_planner_param["launch_run_out"]
-            ),
-            " and ",
-            "'",
-            run_out_param["run_out"]["detection_method"],
-            "' == 'Points'",
-        ]
-    )
-
-    # load compare map for run out module
-    load_compare_map = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                FindPackageShare("planning_launch"),
-                "/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py",
-            ]
-        ),
-        launch_arguments={
-            "use_pointcloud_container": LaunchConfiguration("use_pointcloud_container"),
-            "container_name": LaunchConfiguration("container_name"),
-            "use_multithread": "true",
-        }.items(),
-        # launch compare map only when run_out module is enabled and detection method is Points
-        condition=IfCondition(launch_run_out_with_points_method),
-    )
-
-    load_vector_map_inside_area_filter = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                FindPackageShare("planning_launch"),
-                "/launch/scenario_planning/lane_driving/behavior_planning/vector_map_inside_area_filter.launch.py",
-            ]
-        ),
-        launch_arguments={
-            "use_pointcloud_container": LaunchConfiguration("use_pointcloud_container"),
-            "container_name": LaunchConfiguration("container_name"),
-            "use_multithread": "true",
-            "polygon_type": "no_obstacle_segmentation_area_for_run_out",
-        }.items(),
-        # launch vector map filter only when run_out module is enabled and detection method is Points
-        condition=IfCondition(launch_run_out_with_points_method),
-    )
-
-    set_bt_tree_config_path_without_foa = SetLaunchConfiguration(
-        "bt_tree_config_path",
-        [FindPackageShare("behavior_path_planner"), "/config/behavior_path_planner_tree.xml"],
-        condition=IfCondition(LaunchConfiguration("disuse_foa")),
-    )
-
-    set_bt_tree_config_path_with_foa = SetLaunchConfiguration(
-        "bt_tree_config_path",
-        [FindPackageShare("behavior_path_planner"), "/config/behavior_path_planner_tree.xml"],
-        condition=UnlessCondition(LaunchConfiguration("disuse_foa")),
-    )
-
-    return launch.LaunchDescription(
-        [
-            DeclareLaunchArgument(
-                "input_route_topic_name", default_value="/planning/mission_planning/route"
-            ),
-            DeclareLaunchArgument("map_topic_name", default_value="/map/vector_map"),
-            DeclareLaunchArgument("use_intra_process", default_value="false"),
-            DeclareLaunchArgument("use_multithread", default_value="false"),
-            set_container_executable,
-            set_container_mt_executable,
-            set_bt_tree_config_path_without_foa,
-            set_bt_tree_config_path_with_foa,
-            container,
-            load_compare_map,
-            load_vector_map_inside_area_filter,
-        ]
-    )
diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
deleted file mode 100644
index 9fb734bf6c..0000000000
--- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<launch>
-  <arg name="input_route_topic_name" default="/planning/mission_planning/route" />
-  <arg name="map_topic_name" default="/map/vector_map" />
-
-  <node pkg="behavior_path_planner" exec="behavior_path_planner" name="behavior_path_planner" output="screen">
-    <remap from="~/input/route" to="$(var input_route_topic_name)" />
-    <remap from="~/input/vector_map" to="$(var map_topic_name)" />
-    <remap from="~/input/perception" to="/perception/object_recognition/objects" />
-    <remap from="~/input/odometry" to="/localization/kinematic_state" />
-    <remap from="~/input/accel" to="/localization/acceleration"/>
-    <remap from="~/output/path" to="path_with_lane_id" />
-    <remap from="~/output/turn_indicators_cmd" to="/planning/turn_signal_cmd" />
-    <remap from="~/output/hazard_lights_cmd" to="/planning/hazard_signal_cmd" />
-    <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml" />
-    <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml" />
-    <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml" />
-    <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml" />
-    <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml" />
-    <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml" />
-    <param name="enable_abort_lane_change" value="$(var use_perfect_lane_change)" />
-    <param name="enable_collision_check_at_prepare_phase" value="$(var use_perfect_lane_change)" />
-    <param name="use_predicted_path_outside_lanelet" value="$(var use_perfect_lane_change)" />
-    <param name="use_all_predicted_path" value="$(var use_perfect_lane_change)" />
-    <param name="enable_blocked_by_obstacle" value="$(var use_perfect_lane_change)" />
-    <param name="bt_tree_config_path" value="$(find-pkg-share behavior_path_planner)/config/behavior_path_planner_tree.xml"/>
-  </node>
-
-  <include file="$(find-pkg-share behavior_velocity_planner)/launch/behavior_velocity_planner.launch.xml">
-  </include>
-
-</launch>
diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py
deleted file mode 100644
index 60b31f475e..0000000000
--- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/compare_map.launch.py
+++ /dev/null
@@ -1,89 +0,0 @@
-# Copyright 2022 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.
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-
-
-def generate_launch_description():
-    def add_launch_arg(name: str, default_value=None):
-        return DeclareLaunchArgument(name, default_value=default_value)
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    composable_nodes = [
-        ComposableNode(
-            package="compare_map_segmentation",
-            plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent",
-            name="voxel_distance_based_compare_map_filter_node",
-            remappings=[
-                ("input", "vector_map_inside_area_filtered/pointcloud"),
-                ("map", "/map/pointcloud_map"),
-                ("output", "compare_map_filtered/pointcloud"),
-            ],
-            parameters=[
-                {
-                    "distance_threshold": 0.7,
-                }
-            ],
-            extra_arguments=[
-                {"use_intra_process_comms": False}  # this node has QoS of transient local
-            ],
-        ),
-    ]
-
-    compare_map_container = ComposableNodeContainer(
-        name="compare_map_container",
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=composable_nodes,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
-    load_composable_nodes = LoadComposableNodes(
-        composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-
-    return LaunchDescription(
-        [
-            add_launch_arg("use_multithread", "true"),
-            add_launch_arg("use_pointcloud_container", "true"),
-            add_launch_arg("container_name", "compare_map_container"),
-            set_container_executable,
-            set_container_mt_executable,
-            compare_map_container,
-            load_composable_nodes,
-        ]
-    )
diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/vector_map_inside_area_filter.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/vector_map_inside_area_filter.launch.py
deleted file mode 100644
index 3921dcfe7d..0000000000
--- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/vector_map_inside_area_filter.launch.py
+++ /dev/null
@@ -1,88 +0,0 @@
-# Copyright 2022 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.
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-
-
-def generate_launch_description():
-    def add_launch_arg(name: str, default_value=None):
-        return DeclareLaunchArgument(name, default_value=default_value)
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    composable_nodes = [
-        ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent",
-            name="vector_map_inside_area_filter_node",
-            remappings=[
-                ("input", "/perception/obstacle_segmentation/pointcloud"),
-                ("input/vector_map", "/map/vector_map"),
-                ("output", "vector_map_inside_area_filtered/pointcloud"),
-            ],
-            parameters=[
-                {
-                    "polygon_type": LaunchConfiguration("polygon_type"),
-                }
-            ],
-            # this node has QoS of transient local
-            extra_arguments=[{"use_intra_process_comms": False}],
-        ),
-    ]
-
-    vector_map_area_filter_container = ComposableNodeContainer(
-        name="vector_map_area_filter_container",
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=composable_nodes,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
-    load_composable_nodes = LoadComposableNodes(
-        composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-
-    return LaunchDescription(
-        [
-            add_launch_arg("use_multithread", "true"),
-            add_launch_arg("use_pointcloud_container", "true"),
-            add_launch_arg("container_name", "vector_map_area_filter_container"),
-            set_container_executable,
-            set_container_mt_executable,
-            vector_map_area_filter_container,
-            load_composable_nodes,
-        ]
-    )
diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
deleted file mode 100644
index 9534b77ae7..0000000000
--- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ /dev/null
@@ -1,339 +0,0 @@
-# Copyright 2021 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 os
-
-from ament_index_python.packages import get_package_share_directory
-import launch
-from launch.actions import DeclareLaunchArgument
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import LaunchConfigurationEquals
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-import yaml
-
-
-def generate_launch_description():
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None, description=None):
-        launch_arguments.append(
-            DeclareLaunchArgument(name, default_value=default_value, description=description)
-        )
-
-    add_launch_arg(
-        "cruise_planner_type",
-        "obstacle_stop_planner",
-        "cruise_planner: obstacle_stop_planner, obstacle_cruise_planner, none`",
-    )
-
-    # planning common param path
-    common_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "common",
-        "common.param.yaml",
-    )
-    with open(common_param_path, "r") as f:
-        common_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    nearest_search_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "common",
-        "nearest_search.param.yaml",
-    )
-    with open(nearest_search_param_path, "r") as f:
-        nearest_search_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    # obstacle avoidance planner
-    obstacle_avoidance_planner_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "motion_planning",
-        "obstacle_avoidance_planner",
-        "obstacle_avoidance_planner.param.yaml",
-    )
-    with open(obstacle_avoidance_planner_param_path, "r") as f:
-        obstacle_avoidance_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    obstacle_avoidance_planner_component = ComposableNode(
-        package="obstacle_avoidance_planner",
-        plugin="ObstacleAvoidancePlanner",
-        name="obstacle_avoidance_planner",
-        namespace="",
-        remappings=[
-            ("~/input/objects", "/perception/object_recognition/objects"),
-            ("~/input/path", LaunchConfiguration("input_path_topic")),
-            ("~/output/path", "obstacle_avoidance_planner/trajectory"),
-        ],
-        parameters=[
-            nearest_search_param,
-            obstacle_avoidance_planner_param,
-            {"enable_avoidance": False},
-            {"is_showing_debug_info": False},
-            {"is_stopping_if_outside_drivable_area": True},
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    # obstacle velocity limiter
-    obstacle_velocity_limiter_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "motion_planning",
-        "obstacle_velocity_limiter",
-        "obstacle_velocity_limiter.param.yaml",
-    )
-    with open(obstacle_velocity_limiter_param_path, "r") as f:
-        obstacle_velocity_limiter_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    obstacle_velocity_limiter_component = ComposableNode(
-        package="obstacle_velocity_limiter",
-        plugin="obstacle_velocity_limiter::ObstacleVelocityLimiterNode",
-        name="obstacle_velocity_limiter",
-        namespace="",
-        remappings=[
-            ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"),
-            ("~/input/odometry", "/localization/kinematic_state"),
-            ("~/input/dynamic_obstacles", "/perception/object_recognition/objects"),
-            ("~/input/occupancy_grid", "/perception/occupancy_grid_map/map"),
-            ("~/input/obstacle_pointcloud", "/perception/obstacle_segmentation/pointcloud"),
-            ("~/input/map", "/map/vector_map"),
-            ("~/output/debug_markers", "debug_markers"),
-            ("~/output/trajectory", "obstacle_velocity_limiter/trajectory"),
-        ],
-        parameters=[
-            obstacle_velocity_limiter_param,
-            {"obstacles.dynamic_source": "static_only"},
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    # surround obstacle checker
-    surround_obstacle_checker_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "motion_planning",
-        "surround_obstacle_checker",
-        "surround_obstacle_checker.param.yaml",
-    )
-    with open(surround_obstacle_checker_param_path, "r") as f:
-        surround_obstacle_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    surround_obstacle_checker_component = ComposableNode(
-        package="surround_obstacle_checker",
-        plugin="surround_obstacle_checker::SurroundObstacleCheckerNode",
-        name="surround_obstacle_checker",
-        namespace="",
-        remappings=[
-            ("~/output/no_start_reason", "/planning/scenario_planning/status/no_start_reason"),
-            ("~/output/stop_reasons", "/planning/scenario_planning/status/stop_reasons"),
-            ("~/output/max_velocity", "/planning/scenario_planning/max_velocity_candidates"),
-            (
-                "~/output/velocity_limit_clear_command",
-                "/planning/scenario_planning/clear_velocity_limit",
-            ),
-            (
-                "~/input/pointcloud",
-                "/perception/obstacle_segmentation/pointcloud",
-            ),
-            ("~/input/objects", "/perception/object_recognition/objects"),
-            ("~/input/odometry", "/localization/kinematic_state"),
-        ],
-        parameters=[
-            nearest_search_param,
-            surround_obstacle_checker_param,
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    # obstacle cruise planner
-    obstacle_cruise_planner_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "motion_planning",
-        "obstacle_cruise_planner",
-        "obstacle_cruise_planner.param.yaml",
-    )
-    with open(obstacle_cruise_planner_param_path, "r") as f:
-        obstacle_cruise_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    obstacle_cruise_planner_component = ComposableNode(
-        package="obstacle_cruise_planner",
-        plugin="motion_planning::ObstacleCruisePlannerNode",
-        name="obstacle_cruise_planner",
-        namespace="",
-        remappings=[
-            ("~/input/trajectory", "obstacle_velocity_limiter/trajectory"),
-            ("~/input/odometry", "/localization/kinematic_state"),
-            ("~/input/acceleration", "/localization/acceleration"),
-            ("~/input/objects", "/perception/object_recognition/objects"),
-            ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
-            ("~/output/velocity_limit", "/planning/scenario_planning/max_velocity_candidates"),
-            ("~/output/clear_velocity_limit", "/planning/scenario_planning/clear_velocity_limit"),
-            ("~/output/stop_reasons", "/planning/scenario_planning/status/stop_reasons"),
-        ],
-        parameters=[
-            common_param,
-            nearest_search_param,
-            obstacle_cruise_planner_param,
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    # obstacle stop planner
-    obstacle_stop_planner_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "motion_planning",
-        "obstacle_stop_planner",
-        "obstacle_stop_planner.param.yaml",
-    )
-    obstacle_stop_planner_acc_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "lane_driving",
-        "motion_planning",
-        "obstacle_stop_planner",
-        "adaptive_cruise_control.param.yaml",
-    )
-    with open(obstacle_stop_planner_param_path, "r") as f:
-        obstacle_stop_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    with open(obstacle_stop_planner_acc_param_path, "r") as f:
-        obstacle_stop_planner_acc_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    obstacle_stop_planner_component = ComposableNode(
-        package="obstacle_stop_planner",
-        plugin="motion_planning::ObstacleStopPlannerNode",
-        name="obstacle_stop_planner",
-        namespace="",
-        remappings=[
-            ("~/output/stop_reason", "/planning/scenario_planning/status/stop_reason"),
-            ("~/output/stop_reasons", "/planning/scenario_planning/status/stop_reasons"),
-            ("~/output/max_velocity", "/planning/scenario_planning/max_velocity_candidates"),
-            (
-                "~/output/velocity_limit_clear_command",
-                "/planning/scenario_planning/clear_velocity_limit",
-            ),
-            ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
-            ("~/input/acceleration", "/localization/acceleration"),
-            (
-                "~/input/pointcloud",
-                "/perception/obstacle_segmentation/pointcloud",
-            ),
-            ("~/input/objects", "/perception/object_recognition/objects"),
-            ("~/input/odometry", "/localization/kinematic_state"),
-            ("~/input/trajectory", "obstacle_velocity_limiter/trajectory"),
-        ],
-        parameters=[
-            common_param,
-            nearest_search_param,
-            obstacle_stop_planner_param,
-            obstacle_stop_planner_acc_param,
-            {"enable_slow_down": False},
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    obstacle_cruise_planner_relay_component = ComposableNode(
-        package="topic_tools",
-        plugin="topic_tools::RelayNode",
-        name="obstacle_cruise_planner_relay",
-        namespace="",
-        parameters=[
-            {"input_topic": "obstacle_velocity_limiter/trajectory"},
-            {"output_topic": "/planning/scenario_planning/lane_driving/trajectory"},
-            {"type": "autoware_auto_planning_msgs/msg/Trajectory"},
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    container = ComposableNodeContainer(
-        name="motion_planning_container",
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[
-            obstacle_avoidance_planner_component,
-            obstacle_velocity_limiter_component,
-        ],
-    )
-
-    obstacle_stop_planner_loader = LoadComposableNodes(
-        composable_node_descriptions=[obstacle_stop_planner_component],
-        target_container=container,
-        condition=LaunchConfigurationEquals("cruise_planner_type", "obstacle_stop_planner"),
-    )
-
-    obstacle_cruise_planner_loader = LoadComposableNodes(
-        composable_node_descriptions=[obstacle_cruise_planner_component],
-        target_container=container,
-        condition=LaunchConfigurationEquals("cruise_planner_type", "obstacle_cruise_planner"),
-    )
-
-    obstacle_cruise_planner_relay_loader = LoadComposableNodes(
-        composable_node_descriptions=[obstacle_cruise_planner_relay_component],
-        target_container=container,
-        condition=LaunchConfigurationEquals("cruise_planner_type", "none"),
-    )
-
-    surround_obstacle_checker_loader = LoadComposableNodes(
-        composable_node_descriptions=[surround_obstacle_checker_component],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("use_surround_obstacle_check")),
-    )
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    return launch.LaunchDescription(
-        launch_arguments
-        + [
-            DeclareLaunchArgument(
-                "input_path_topic",
-                default_value="/planning/scenario_planning/lane_driving/behavior_planning/path",
-            ),
-            DeclareLaunchArgument("use_surround_obstacle_check", default_value="false"),
-            DeclareLaunchArgument("use_intra_process", default_value="false"),
-            DeclareLaunchArgument("use_multithread", default_value="false"),
-            set_container_executable,
-            set_container_mt_executable,
-            container,
-            surround_obstacle_checker_loader,
-            obstacle_stop_planner_loader,
-            obstacle_cruise_planner_loader,
-            obstacle_cruise_planner_relay_loader,
-        ]
-    )
diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
deleted file mode 100644
index 9b8db026e4..0000000000
--- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<launch>
-  <!-- common param -->
-  <arg name="common_param_path"/>
-
-  <arg name="input_path_topic" default="/planning/scenario_planning/lane_driving/behavior_planning/path" />
-  <arg name="use_surround_obstacle_check" default="true" />
-
-  <!-- path planning for avoiding obstacle with dynamic object info -->
-  <group>
-    <set_parameter name="enable_avoidance" value="$(var disuse_foa)" />
-    <include file="$(find-pkg-share obstacle_avoidance_planner)/launch/obstacle_avoidance_planner.launch.xml">
-      <arg name="param_path" value="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
-      <arg name="input_path_topic" value="$(var input_path_topic)" />
-      <arg name="output_path_topic" value="obstacle_avoidance_planner/trajectory" />
-    </include>
-  </group>
-
-
-  <!-- surround obstacle checker (Do not start if there are pedestrian/bicycles around ego-car) -->
-  <group if="$(var use_surround_obstacle_check)">
-    <include file="$(find-pkg-share surround_obstacle_checker)/launch/surround_obstacle_checker.launch.xml">
-      <arg name="param_path" value="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml"/>
-    </include>
-  </group>
-
-  <!-- stop velocity planning with obstacle pointcloud info -->
-  <group>
-    <include file="$(find-pkg-share obstacle_stop_planner)/launch/obstacle_stop_planner.launch.xml">
-      <!-- load config files -->
-      <arg name="common_param_path" value="$(var common_param_path)"/>
-      <arg name="adaptive_cruise_control_param_path" value="$(find-pkg-share planning_launch)/config/obstacle_stop_planner/adaptive_cruise_control.param.yaml" />
-      <arg name="obstacle_stop_planner_param_path" value="$(find-pkg-share planning_launch)/config/obstacle_stop_planner/obstacle_stop_planner.param.yaml" />
-      <arg name="enable_slow_down" value="false" />
-      <!-- remap topic name -->
-      <arg name="input_trajectory" value="obstacle_avoidance_planner/trajectory" />
-      <arg name="input_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
-      <arg name="output_trajectory" value="/planning/scenario_planning/lane_driving/trajectory" />
-    </include>
-  </group>
-
-</launch>
diff --git a/planning_launch/launch/scenario_planning/parking.launch.py b/planning_launch/launch/scenario_planning/parking.launch.py
deleted file mode 100644
index e3d9e750a0..0000000000
--- a/planning_launch/launch/scenario_planning/parking.launch.py
+++ /dev/null
@@ -1,137 +0,0 @@
-# Copyright 2021 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 os
-
-from ament_index_python.packages import get_package_share_directory
-import launch
-from launch.actions import DeclareLaunchArgument
-from launch.actions import GroupAction
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import PushRosNamespace
-from launch_ros.descriptions import ComposableNode
-import yaml
-
-
-def generate_launch_description():
-    freespace_planner_param_path = os.path.join(
-        get_package_share_directory("planning_launch"),
-        "config",
-        "scenario_planning",
-        "parking",
-        "freespace_planner",
-        "freespace_planner.param.yaml",
-    )
-    with open(freespace_planner_param_path, "r") as f:
-        freespace_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    container = ComposableNodeContainer(
-        name="parking_container",
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[
-            ComposableNode(
-                package="costmap_generator",
-                plugin="CostmapGenerator",
-                name="costmap_generator",
-                remappings=[
-                    ("~/input/objects", "/perception/object_recognition/objects"),
-                    (
-                        "~/input/points_no_ground",
-                        "/perception/obstacle_segmentation/pointcloud",
-                    ),
-                    ("~/input/vector_map", "/map/vector_map"),
-                    ("~/input/scenario", "/planning/scenario_planning/scenario"),
-                    ("~/output/grid_map", "costmap_generator/grid_map"),
-                    ("~/output/occupancy_grid", "costmap_generator/occupancy_grid"),
-                ],
-                parameters=[
-                    {
-                        "costmap_frame": "map",
-                        "vehicle_frame": "base_link",
-                        "map_frame": "map",
-                        "update_rate": 10.0,
-                        "use_wayarea": True,
-                        "use_objects": True,
-                        "use_points": True,
-                        "grid_min_value": 0.0,
-                        "grid_max_value": 1.0,
-                        "grid_resolution": 0.2,
-                        "grid_length_x": 70.0,
-                        "grid_length_y": 70.0,
-                        "grid_position_x": 0.0,
-                        "grid_position_y": 0.0,
-                        "maximum_lidar_height_thres": 0.3,
-                        "minimum_lidar_height_thres": -2.2,
-                        "expand_polygon_size": 1.0,
-                        "size_of_expansion_kernel": 9,
-                    },
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            ),
-            ComposableNode(
-                package="freespace_planner",
-                plugin="freespace_planner::FreespacePlannerNode",
-                name="freespace_planner",
-                remappings=[
-                    ("~/input/route", "/planning/mission_planning/route"),
-                    ("~/input/occupancy_grid", "costmap_generator/occupancy_grid"),
-                    ("~/input/scenario", "/planning/scenario_planning/scenario"),
-                    ("~/input/odometry", "/localization/kinematic_state"),
-                    ("~/output/trajectory", "/planning/scenario_planning/parking/trajectory"),
-                    ("is_completed", "/planning/scenario_planning/parking/is_completed"),
-                ],
-                parameters=[
-                    freespace_planner_param,
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            ),
-        ],
-    )
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    return launch.LaunchDescription(
-        [
-            DeclareLaunchArgument(
-                "use_intra_process",
-                default_value="false",
-                description="use ROS2 component container communication",
-            ),
-            DeclareLaunchArgument(
-                "use_multithread", default_value="false", description="use multithread"
-            ),
-            set_container_executable,
-            set_container_mt_executable,
-            GroupAction([PushRosNamespace("parking"), container]),
-        ]
-    )
diff --git a/planning_launch/launch/scenario_planning/parking.launch.xml b/planning_launch/launch/scenario_planning/parking.launch.xml
deleted file mode 100644
index 9fbf153549..0000000000
--- a/planning_launch/launch/scenario_planning/parking.launch.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<launch>
-  <!-- parking scenario -->
-  <group>
-    <push-ros-namespace namespace="parking"/>
-    <include file="$(find-pkg-share costmap_generator)/launch/costmap_generator.launch.xml">
-      <arg name="input_objects" value="/perception/object_recognition/objects"/>
-      <arg name="input_points_no_ground" value="/perception/obstacle_segmentation/pointcloud"/>
-      <arg name="input_lanelet_map" value="/map/vector_map"/>
-      <arg name="input_scenario" value="/planning/scenario_planning/scenario"/>
-      <arg name="output_grid_map" value="costmap_generator/grid_map"/>
-      <arg name="output_occupancy_grid" value="costmap_generator/occupancy_grid"/>
-    </include>
-
-    <include file="$(find-pkg-share freespace_planner)/launch/freespace_planner.launch.xml">
-      <arg name="input_route" value="/planning/mission_planning/route" />
-      <arg name="input_occupancy_grid" value="costmap_generator/occupancy_grid" />
-      <arg name="input_scenario" value="/planning/scenario_planning/scenario" />
-      <arg name="input_odometry" value="/localization/kinematic_state" />
-      <arg name="output_trajectory" value="/planning/scenario_planning/parking/trajectory" />
-      <arg name="is_completed" value="/planning/scenario_planning/parking/is_completed" />
-      <arg name="param_file" value="$(find-pkg-share planning_launch)/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml" />
-    </include>
-  </group>
-</launch>
diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml
deleted file mode 100644
index 0b20bc386d..0000000000
--- a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml
+++ /dev/null
@@ -1,61 +0,0 @@
-<launch>
-  <!-- common param -->
-  <arg name="common_param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/common/common.param.yaml"/>
-  <arg name="nearest_search_param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/common/nearest_search.param.yaml"/>
-
-  <!-- pointcloud container -->
-  <arg name="use_pointcloud_container"/>
-  <arg name="pointcloud_container_name"/>
-  <arg name="cruise_planner_type"/>
-  <arg name="disuse_foa" />
-  <arg name="use_perfect_lane_change" />
-
-  <!-- scenario selector -->
-  <include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
-    <arg name="input_lane_driving_trajectory" value="/planning/scenario_planning/lane_driving/trajectory"/>
-    <arg name="input_parking_trajectory" value="/planning/scenario_planning/parking/trajectory"/>
-    <arg name="input_lanelet_map" value="/map/vector_map"/>
-    <arg name="input_route" value="/planning/mission_planning/route"/>
-    <arg name="input_odometry" value="/localization/kinematic_state"/>
-    <arg name="output_scenario" value="/planning/scenario_planning/scenario"/>
-    <arg name="output_trajectory" value="/planning/scenario_planning/scenario_selector/trajectory"/>
-    <arg name="is_parking_completed" value="/planning/scenario_planning/parking/is_completed"/>
-  </include>
-
-  <!-- velocity planning with max velocity, acceleration, jerk, stop point constraint -->
-  <group>
-    <arg name="param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
-    <!-- external velocity limit selector -->
-    <include file="$(find-pkg-share external_velocity_limit_selector)/launch/external_velocity_limit_selector.launch.xml">
-      <arg name="common_param_path" value="$(var common_param_path)"/>
-      <arg name="param_path" value="$(var param_path)"/>
-    </include>
-    <!-- motion velocity smoother -->
-    <arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
-    <set_remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory" />
-    <set_remap from="~/output/trajectory" to="/planning/scenario_planning/trajectory" />
-    <include file="$(find-pkg-share motion_velocity_smoother)/launch/motion_velocity_smoother.launch.xml">
-      <arg name="smoother_type" value="$(var smoother_type)" />
-      <arg name="common_param_path" value="$(var common_param_path)"/>
-      <arg name="nearest_search_param_path" value="$(var nearest_search_param_path)"/>
-      <arg name="param_path" value="$(var param_path)"/>
-      <arg name="smoother_param_path" value="$(find-pkg-share planning_launch)/config/scenario_planning/common/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
-    </include>
-  </group>
-
-  <!-- scenarios-->
-  <group>
-    <!-- lane driving -->
-    <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/lane_driving.launch.xml">
-      <arg name="common_param_path" value="$(var common_param_path)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="cruise_planner_type" value="$(var cruise_planner_type)" />
-      <arg name="disuse_foa" value="$(var disuse_foa)" />
-      <arg name="use_perfect_lane_change" value="$(var use_perfect_lane_change)" />
-    </include>
-    <!-- parking -->
-    <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/parking.launch.py">
-    </include>
-  </group>
-</launch>
diff --git a/planning_launch/package.xml b/planning_launch/package.xml
deleted file mode 100644
index e8e473ca5d..0000000000
--- a/planning_launch/package.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>planning_launch</name>
-  <version>0.1.0</version>
-  <description>The planning_launch package</description>
-
-  <maintainer email="horibe.takamasa@gmail.com">Takamasa Horibe</maintainer>
-
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <exec_depend>behavior_velocity_planner</exec_depend>
-  <exec_depend>costmap_generator</exec_depend>
-  <exec_depend>external_velocity_limit_selector</exec_depend>
-  <exec_depend>freespace_planner</exec_depend>
-  <exec_depend>mission_planner</exec_depend>
-  <exec_depend>motion_velocity_smoother</exec_depend>
-  <exec_depend>obstacle_avoidance_planner</exec_depend>
-  <exec_depend>obstacle_stop_planner</exec_depend>
-  <exec_depend>obstacle_velocity_limiter</exec_depend>
-  <exec_depend>scenario_selector</exec_depend>
-  <exec_depend>surround_obstacle_checker</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>
diff --git a/planning_launch/planning_launch.drawio.svg b/planning_launch/planning_launch.drawio.svg
deleted file mode 100644
index fba2aefed5..0000000000
--- a/planning_launch/planning_launch.drawio.svg
+++ /dev/null
@@ -1,318 +0,0 @@
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-            </text>
-        </a>
-    </switch>
-</svg>
\ No newline at end of file
diff --git a/simulator_launch/CMakeLists.txt b/simulator_launch/CMakeLists.txt
deleted file mode 100644
index 05e5c27e2b..0000000000
--- a/simulator_launch/CMakeLists.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(simulator_launch)
-
-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/simulator_launch/README.md b/simulator_launch/README.md
deleted file mode 100644
index d52b6c16a6..0000000000
--- a/simulator_launch/README.md
+++ /dev/null
@@ -1,15 +0,0 @@
-# simulator_launch
-
-## Structure
-
-![simulator_launch](./simulator_launch.drawio.svg)
-
-## Package Dependencies
-
-Please see `<exec_depend>` in `package.xml`.
-
-## Usage
-
-```xml
-  <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml"/>
-```
diff --git a/simulator_launch/launch/simulator.launch.xml b/simulator_launch/launch/simulator.launch.xml
deleted file mode 100644
index 08d27a73b1..0000000000
--- a/simulator_launch/launch/simulator.launch.xml
+++ /dev/null
@@ -1,96 +0,0 @@
-<launch>
-  <arg name="launch_dummy_perception" />
-  <arg name="launch_dummy_vehicle"/>
-  <arg name="launch_dummy_localization"/>
-
-  <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
-  <arg name="perception/enable_object_recognition" default="false" description="enable object recognition"/>
-  <arg name="perception/enable_traffic_light" default="false" description="enable traffic light"/>
-  <arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
-
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
-
-  <let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
-
-  <group if="$(var scenario_simulation)">
-    <include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml">
-      <arg name="config_file" value="$(find-pkg-share simulator_launch)/config/fault_injection.param.yaml"/>
-    </include>
-  </group>
-  <group unless="$(var scenario_simulation)">
-    <!-- Occupancy Grid -->
-    <push-ros-namespace namespace="occupancy_grid_map"/>
-    <include file="$(find-pkg-share perception_launch)/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py">
-      <arg name="input_obstacle_pointcloud" value="true" />
-      <arg name="input_obstacle_and_raw_pointcloud" value="false" />
-      <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
-      <arg name="output" value="/perception/occupancy_grid_map/map" />
-    </include>
-  </group>
-
-  <!-- Dummy Perception -->
-  <group if="$(var launch_dummy_perception)">
-    <include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
-      <arg name="real" value="$(var perception/enable_detection_failure)"/>
-      <arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
-      <arg name="visible_range" value="$(var sensing/visible_range)"/>
-    </include>
-  </group>
-
-  <!-- perception module -->
-  <group>
-    <push-ros-namespace namespace="perception"/>
-    <!-- object recognition -->
-    <group if="$(var perception/enable_object_recognition)">
-      <push-ros-namespace namespace="object_recognition"/>
-      <!-- tracking module -->
-      <group>
-        <push-ros-namespace namespace="tracking"/>
-        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
-        </include>
-      </group>
-      <!-- prediction module -->
-      <group>
-        <push-ros-namespace namespace="prediction"/>
-        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
-          <arg name="use_vector_map" value="true" />
-        </include>
-      </group>
-    </group>
-
-    <!-- publish empty objects instead of object recognition module -->
-    <group unless="$(var perception/enable_object_recognition)">
-      <push-ros-namespace namespace="object_recognition"/>
-      <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
-        <remap from="~/output/objects" to="/perception/object_recognition/objects" />
-      </node>
-    </group>
-
-
-    <!-- traffic light module -->
-    <group if="$(var perception/enable_traffic_light)">
-      <push-ros-namespace namespace="traffic_light_recognition"/>
-      <include file="$(find-pkg-share perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
-    </group>
-  </group>
-
-  <!-- Dummy localization -->
-  <group if="$(var launch_dummy_localization)">
-    <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
-      <arg name="gnss_enabled" value="false"/>
-      <arg name="ndt_enabled" value="false"/>
-      <arg name="stop_check_enabled" value="false"/>
-    </include>
-  </group>
-
-  <!-- Simulator model -->
-  <group if="$(var launch_dummy_vehicle)">
-    <arg name="simulator_model" default="$(var vehicle_model_pkg)/config/simulator_model.param.yaml" description="path to the file of simulator model"/>
-    <include file="$(find-pkg-share simple_planning_simulator)/launch/simple_planning_simulator.launch.py">
-      <arg name="simulator_model_param_file" value="$(var simulator_model)"/>
-      <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
-    </include>
-  </group>
-
-</launch>
diff --git a/simulator_launch/package.xml b/simulator_launch/package.xml
deleted file mode 100644
index 03d415a7a8..0000000000
--- a/simulator_launch/package.xml
+++ /dev/null
@@ -1,23 +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>simulator_launch</name>
-  <version>0.1.0</version>
-  <description>The simulator_launch package</description>
-
-  <maintainer email="keisuke.shima@tier4.jp">Keisuke Shima</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <exec_depend>dummy_perception_publisher</exec_depend>
-  <exec_depend>fault_injection</exec_depend>
-  <exec_depend>simple_planning_simulator</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>
diff --git a/simulator_launch/simulator_launch.drawio.svg b/simulator_launch/simulator_launch.drawio.svg
deleted file mode 100644
index d86b068066..0000000000
--- a/simulator_launch/simulator_launch.drawio.svg
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!-- Do not edit this file with editors other than diagrams.net -->
-<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
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width: 38px; height: 1px; padding-top: 60px; margin-left: 21px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 40px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">ex:</div></div></div></foreignObject><text x="40" y="72" fill="#000000" font-family="Helvetica" font-size="40px" text-anchor="middle">ex:</text></switch></g><rect x="270" y="0" width="150" height="110" 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: 148px; height: 1px; padding-top: 55px; margin-left: 271px;"><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;">node name<br /><br /><div style="text-align: left"><span>package: package name</span></div></div></div></div></foreignObject><text x="345" y="59" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">node name...</text></switch></g><path d="M 565 442.5 L 660 482.5 L 565 522.5 L 470 482.5 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: 188px; height: 1px; padding-top: 483px; 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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: 225px; margin-left: 453px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 15px; 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="453" y="230" fill="#000000" font-family="Helvetica" font-size="15px" text-anchor="middle">True</text></switch></g><path d="M 320 185 L 415 225 L 320 265 L 225 225 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; 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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: 361px; margin-left: 401px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 15px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">False</div></div></div></foreignObject><text x="401" y="365" fill="#000000" font-family="Helvetica" font-size="15px" text-anchor="middle">False</text></switch></g><rect x="490" y="310" width="250" 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: 248px; height: 1px; padding-top: 360px; margin-left: 491px;"><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;">dummy_perception_publisher.launch.xml<br /><br /><div style="text-align: left"><span>package: dummy_perception_publisher</span></div></div></div></div></foreignObject><text x="615" y="364" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">dummy_perception_publisher.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>
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