diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 7573fcb5b9226..e4682a94906db 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -31,17 +31,29 @@
 - repository: autowarefoundation/autoware_common
   files:
     - source: .github/workflows/build-and-test.yaml
-      post-commands: 'sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}'
+      post-commands: |
+        sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}
+        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {dest}
     - source: .github/workflows/build-and-test-differential.yaml
-      post-commands: 'sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}'
+      post-commands: |
+        sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}
+        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {dest}
     - source: .github/workflows/build-and-test-differential-self-hosted.yaml
-      post-commands: 'sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}'
+      post-commands: |
+        sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}
+        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {dest}
     - source: .github/workflows/build-and-test-self-hosted.yaml
-      post-commands: 'sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}'
+      post-commands: |
+        sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}
+        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {dest}
     - source: .github/workflows/check-build-depends.yaml
-      post-commands: 'sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}'
+      post-commands: |
+        sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}
+        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {dest}
     - source: .github/workflows/clang-tidy-pr-comments.yaml
-      post-commands: 'sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}'
+      post-commands: |
+        sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {dest}
+        sd -f ms '(rosdistro: humble.*?build-depends-repos): build_depends.repos' '$1: build_depends.humble.repos' {dest}
     - source: codecov.yaml
 
 - repository: autowarefoundation/autoware-documentation
diff --git a/.github/workflows/build-and-test-differential-self-hosted.yaml b/.github/workflows/build-and-test-differential-self-hosted.yaml
index 3ae9581dcb24a..b8ce6bd47be15 100644
--- a/.github/workflows/build-and-test-differential-self-hosted.yaml
+++ b/.github/workflows/build-and-test-differential-self-hosted.yaml
@@ -18,7 +18,20 @@ jobs:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
     runs-on: [self-hosted, linux, ARM64]
-    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
+            build-depends-repos: build_depends.humble.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -36,14 +49,14 @@ jobs:
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index b3e6cdabcb22b..b0ec463e1d9ee 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -6,7 +6,20 @@ on:
 jobs:
   build-and-test-differential:
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
+            build-depends-repos: build_depends.humble.repos
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.9.1
@@ -27,18 +40,18 @@ jobs:
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         id: test
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
diff --git a/.github/workflows/build-and-test-self-hosted.yaml b/.github/workflows/build-and-test-self-hosted.yaml
index 8b3a039e9d3b6..bf6dcbc606b0b 100644
--- a/.github/workflows/build-and-test-self-hosted.yaml
+++ b/.github/workflows/build-and-test-self-hosted.yaml
@@ -8,7 +8,20 @@ on:
 jobs:
   build-and-test-self-hosted:
     runs-on: [self-hosted, linux, ARM64]
-    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
+            build-depends-repos: build_depends.humble.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -24,14 +37,14 @@ jobs:
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 6541af9c05b34..911e05ba1c23a 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -10,7 +10,20 @@ jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
+            build-depends-repos: build_depends.humble.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -26,18 +39,18 @@ jobs:
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         id: test
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
diff --git a/build_depends.humble.repos b/build_depends.humble.repos
new file mode 100644
index 0000000000000..2aacc0390a97f
--- /dev/null
+++ b/build_depends.humble.repos
@@ -0,0 +1,35 @@
+repositories:
+  # core
+  core/autoware_msgs:
+    type: git
+    url: https://github.com/tier4/autoware_auto_msgs.git # TODO(Tier IV): Move to autowarefoundation/autoware_msgs
+    version: tier4/main
+  core/common:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_common.git
+    version: main
+  core/autoware:
+    type: git
+    url: https://github.com/autowarefoundation/autoware.core.git
+    version: main
+  # universe
+  universe/tier4_autoware_msgs:
+    type: git
+    url: https://github.com/tier4/AutowareArchitectureProposal_msgs.git # TODO(Tier IV): Rename to tier4/tier4_autoware_msgs
+    version: tier4/universe
+  universe/vendor/grid_map:
+    type: git
+    url: https://github.com/tier4/grid_map.git
+    version: prepare/humble
+  universe/vendor/navigation2:
+    type: git
+    url: https://github.com/tier4/navigation2.git
+    version: prepare/humble
+  universe/vendor/mussp:
+    type: git
+    url: https://github.com/tier4/muSSP.git
+    version: tier4/main
+  universe/vendor/ndt_omp:
+    type: git
+    url: https://github.com/tier4/ndt_omp.git
+    version: tier4/main
diff --git a/common/tier4_planning_rviz_plugin/include/path_with_lane_id_footprint/display.hpp b/common/tier4_planning_rviz_plugin/include/path_with_lane_id_footprint/display.hpp
index bfad59025b4a7..4cbcb9a47daa2 100644
--- a/common/tier4_planning_rviz_plugin/include/path_with_lane_id_footprint/display.hpp
+++ b/common/tier4_planning_rviz_plugin/include/path_with_lane_id_footprint/display.hpp
@@ -24,6 +24,7 @@
 #include <rviz_common/properties/float_property.hpp>
 #include <rviz_common/properties/parse_color.hpp>
 #include <rviz_common/validate_floats.hpp>
+#include <rviz_rendering/objects/movable_text.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
@@ -35,6 +36,8 @@
 #include <OgreSceneNode.h>
 
 #include <memory>
+#include <utility>
+#include <vector>
 
 namespace rviz_plugins
 {
@@ -67,7 +70,8 @@ private Q_SLOTS:
   rviz_common::properties::FloatProperty * property_vehicle_length_;
   rviz_common::properties::FloatProperty * property_vehicle_width_;
   rviz_common::properties::FloatProperty * property_rear_overhang_;
-
+  rviz_common::properties::BoolProperty * property_lane_id_view_;
+  rviz_common::properties::FloatProperty * property_lane_id_scale_;
   struct VehicleFootprintInfo
   {
     VehicleFootprintInfo(const float l, const float w, const float r)
@@ -79,10 +83,16 @@ private Q_SLOTS:
   std::shared_ptr<VehicleInfo> vehicle_info_;
   std::shared_ptr<VehicleFootprintInfo> vehicle_footprint_info_;
 
+  using LaneIdObject =
+    std::pair<std::unique_ptr<Ogre::SceneNode>, std::unique_ptr<rviz_rendering::MovableText>>;
+  std::vector<LaneIdObject> lane_id_obj_ptrs_;
+
 private:
   autoware_auto_planning_msgs::msg::PathWithLaneId::ConstSharedPtr last_msg_ptr_;
   bool validateFloats(
     const autoware_auto_planning_msgs::msg::PathWithLaneId::ConstSharedPtr & msg_ptr);
+
+  void allocateLaneIdObjects(const std::size_t size);
 };
 
 }  // namespace rviz_plugins
diff --git a/common/tier4_planning_rviz_plugin/src/path_with_lane_id_footprint/display.cpp b/common/tier4_planning_rviz_plugin/src/path_with_lane_id_footprint/display.cpp
index d3378b887bd12..c1eb332b4332d 100644
--- a/common/tier4_planning_rviz_plugin/src/path_with_lane_id_footprint/display.cpp
+++ b/common/tier4_planning_rviz_plugin/src/path_with_lane_id_footprint/display.cpp
@@ -42,6 +42,11 @@ AutowarePathWithLaneIdFootprintDisplay::AutowarePathWithLaneIdFootprintDisplay()
   property_vehicle_width_->setMin(0.0);
   property_rear_overhang_->setMin(0.0);
 
+  property_lane_id_view_ = new rviz_common::properties::BoolProperty(
+    "View LaneId", true, "", this, SLOT(updateVisualization()), this);
+  property_lane_id_scale_ = new rviz_common::properties::FloatProperty(
+    "Scale", 0.1, "", property_lane_id_view_, SLOT(updateVisualization()), this);
+
   updateVehicleInfo();
 }
 
@@ -65,6 +70,12 @@ void AutowarePathWithLaneIdFootprintDisplay::reset()
 {
   MFDClass::reset();
   path_footprint_manual_object_->clear();
+
+  for (const auto & e : lane_id_obj_ptrs_) {
+    scene_node_->removeChild(e.first.get());
+  }
+  lane_id_obj_ptrs_.clear();
+  lane_id_obj_ptrs_.shrink_to_fit();
 }
 
 bool AutowarePathWithLaneIdFootprintDisplay::validateFloats(
@@ -78,6 +89,28 @@ bool AutowarePathWithLaneIdFootprintDisplay::validateFloats(
   return true;
 }
 
+void AutowarePathWithLaneIdFootprintDisplay::allocateLaneIdObjects(const std::size_t size)
+{
+  if (size > lane_id_obj_ptrs_.size()) {
+    for (std::size_t i = lane_id_obj_ptrs_.size(); i < size; i++) {
+      std::unique_ptr<Ogre::SceneNode> node_ptr;
+      node_ptr.reset(scene_node_->createChildSceneNode());
+      auto text_ptr =
+        std::make_unique<rviz_rendering::MovableText>("not initialized", "Liberation Sans", 0.1);
+      text_ptr->setVisible(false);
+      text_ptr->setTextAlignment(
+        rviz_rendering::MovableText::H_CENTER, rviz_rendering::MovableText::V_ABOVE);
+      node_ptr->attachObject(text_ptr.get());
+      lane_id_obj_ptrs_.push_back(std::make_pair(std::move(node_ptr), std::move(text_ptr)));
+    }
+  } else {
+    for (std::size_t i = lane_id_obj_ptrs_.size() - 1; i >= size; i--) {
+      scene_node_->removeChild(lane_id_obj_ptrs_.at(i).first.get());
+    }
+    lane_id_obj_ptrs_.resize(size);
+  }
+}
+
 void AutowarePathWithLaneIdFootprintDisplay::processMessage(
   const autoware_auto_planning_msgs::msg::PathWithLaneId::ConstSharedPtr msg_ptr)
 {
@@ -126,6 +159,8 @@ void AutowarePathWithLaneIdFootprintDisplay::processMessage(
     path_footprint_manual_object_->begin(
       "BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_LIST);
 
+    allocateLaneIdObjects(msg_ptr->points.size());
+
     for (size_t point_idx = 0; point_idx < msg_ptr->points.size(); point_idx++) {
       const auto & path_point = msg_ptr->points.at(point_idx);
       /*
@@ -172,6 +207,28 @@ void AutowarePathWithLaneIdFootprintDisplay::processMessage(
           }
         }
       }
+
+      // LaneId
+      if (property_lane_id_view_->getBool()) {
+        Ogre::Vector3 position;
+        position.x = path_point.point.pose.position.x;
+        position.y = path_point.point.pose.position.y;
+        position.z = path_point.point.pose.position.z;
+        auto & node_ptr = lane_id_obj_ptrs_.at(point_idx).first;
+        node_ptr->setPosition(position);
+
+        const auto & text_ptr = lane_id_obj_ptrs_.at(point_idx).second;
+        std::string lane_ids_str = "";
+        for (const auto & e : path_point.lane_ids) {
+          lane_ids_str += std::to_string(e) + ", ";
+        }
+        text_ptr->setCaption(lane_ids_str);
+        text_ptr->setCharacterHeight(property_lane_id_scale_->getFloat());
+        text_ptr->setVisible(true);
+      } else {
+        const auto & text_ptr = lane_id_obj_ptrs_.at(point_idx).second;
+        text_ptr->setVisible(false);
+      }
     }
 
     path_footprint_manual_object_->end();
diff --git a/launch/tier4_autoware_api_launch/launch/include/internal_api_relay.launch.xml b/launch/tier4_autoware_api_launch/launch/include/internal_api_relay.launch.xml
index 810e6a566bd3a..4723621f84d68 100644
--- a/launch/tier4_autoware_api_launch/launch/include/internal_api_relay.launch.xml
+++ b/launch/tier4_autoware_api_launch/launch/include/internal_api_relay.launch.xml
@@ -1,26 +1,23 @@
 <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>
+    <node pkg="topic_tools" exec="relay" name="traffic_signals" args="/api/autoware/set/traffic_signals /external/traffic_light_recognition/traffic_signals"/>
+
+    <node
+      pkg="topic_tools"
+      exec="relay"
+      name="intersection_states"
+      args="/api/autoware/set/intersection_state /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states"
+    />
+
+    <node
+      pkg="topic_tools"
+      exec="relay"
+      name="crosswalk_states"
+      args="/api/autoware/set/crosswalk_states /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states"
+    />
+
     <!-- TODO(Takagi, Isamu): workaround for topic check -->
-    <node pkg="topic_tools" exec="relay" name="initial_pose_2d">
-      <param name="input_topic" value="/initialpose"/>
-      <param name="output_topic" value="/initialpose2d"/>
-      <param name="type" value="geometry_msgs/msg/PoseWithCovarianceStamped"/>
-    </node>
+    <node pkg="topic_tools" exec="relay" name="initial_pose_2d" args="/initialpose /initialpose2d"/>
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml b/launch/tier4_perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml
similarity index 100%
rename from launch/tier4_perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml
rename to launch/tier4_perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index e55b64315dfb3..8ab5267ad8230 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -39,7 +39,7 @@
 
   <!-- Pointcloud map filter -->
   <group>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection_preprocess.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(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"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index b898710d9ae9b..87c9d32ddcc7b 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -9,7 +9,7 @@
 
   <!-- Pointcloud map filter -->
   <group>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection_preprocess.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(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"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
similarity index 87%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py
rename to launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
index ea276a55b6d86..2990429d61ef1 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
@@ -27,17 +27,17 @@
 import yaml
 
 
-class DetectionPreProcessPipeline:
+class PointcloudMapFilterPipeline:
     def __init__(self, context):
-        detection_preprocess_param_path = os.path.join(
-            get_package_share_directory("perception_launch"),
-            "config/object_recognition/detection/detection_preprocess.param.yaml",
+        pointcloud_map_filter_param_path = os.path.join(
+            get_package_share_directory("tier4_perception_launch"),
+            "config/object_recognition/detection/pointcloud_map_filter.param.yaml",
         )
-        with open(detection_preprocess_param_path, "r") as f:
-            self.detection_preprocess_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-        self.use_down_sample_filter = self.detection_preprocess_param["use_down_sample_filter"]
-        self.voxel_size = self.detection_preprocess_param["down_sample_voxel_size"]
-        self.distance_threshold = self.detection_preprocess_param["distance_threshold"]
+        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:
@@ -69,7 +69,7 @@ def create_normal_pipeline(self):
         )
         return components
 
-    def create_down_sample_pipeline(self, output_topic):
+    def create_down_sample_pipeline(self):
         components = []
         down_sample_topic = (
             "/perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud"
@@ -119,7 +119,7 @@ def create_down_sample_pipeline(self, output_topic):
 
 
 def launch_setup(context, *args, **kwargs):
-    pipeline = DetectionPreProcessPipeline(context)
+    pipeline = PointcloudMapFilterPipeline(context)
     components = []
     components.extend(pipeline.create_pipeline())
     individual_container = ComposableNodeContainer(
@@ -150,7 +150,7 @@ def add_launch_arg(name: str, default_value=None):
     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", "detection_preprocess_pipeline_container")
+    add_launch_arg("container_name", "pointcloud_map_filter_pipeline_container")
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",
diff --git a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt
index 433999051097d..8fff790a64790 100644
--- a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt
+++ b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt
@@ -65,35 +65,49 @@ else()
   set(CUDNN_AVAIL OFF)
 endif()
 
-find_program(GDOWN_AVAIL "gdown")
-if(NOT GDOWN_AVAIL)
-  message("gdown: command not found. External files could not be downloaded.")
-endif()
 if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
   # download weight files
-  set(PATH "${CMAKE_CURRENT_SOURCE_DIR}/data")
-  if(NOT EXISTS "${PATH}")
-    execute_process(COMMAND mkdir -p ${PATH})
-  endif()
-  set(FILE "${PATH}/vlp-16.caffemodel")
-  message(STATUS "Checking and downloading vlp-16.caffemodel")
-  if(NOT EXISTS "${FILE}")
-    message(STATUS "... file does not exist. Downloading now ...")
-    execute_process(COMMAND gdown "https://drive.google.com/uc?id=1bbO_eeGG5HUqyUiAYjOd6hUn-Zma0mMJ" -O ${PATH}/vlp-16.caffemodel)
-  endif()
-  set(FILE "${PATH}/hdl-64.caffemodel")
-  message(STATUS "Checking and downloading hdl-64.caffemodel")
-  if(NOT EXISTS "${FILE}")
-    message(STATUS "... file does not exist. Downloading now ...")
-    execute_process(COMMAND gdown "https://drive.google.com/uc?id=1ZdB6V3jua3GmtYuY9NR1nc9QZe_ChjkP" -O ${PATH}/hdl-64.caffemodel)
-  endif()
-  set(FILE "${PATH}/vls-128.caffemodel")
-  message(STATUS "Checking and downloading vls-128.caffemodel")
-  if(NOT EXISTS "${FILE}")
-    message(STATUS "... file does not exist. Downloading now ...")
-    execute_process(COMMAND gdown "https://drive.google.com/uc?id=1izpNotNxS6mrYIzJwHQ_EyX_IPDU-MBr" -O ${PATH}/vls-128.caffemodel)
+  set(DATA_PATH "${CMAKE_CURRENT_SOURCE_DIR}/data")
+  if(NOT EXISTS "${DATA_PATH}")
+    execute_process(COMMAND mkdir -p ${DATA_PATH})
   endif()
 
+  function(download FILE_NAME FILE_HASH)
+    message(STATUS "Checking and downloading ${FILE_NAME}")
+    set(FILE_PATH ${DATA_PATH}/${FILE_NAME})
+    set(STATUS_CODE 0)
+    message(STATUS "start ${FILE_NAME}")
+    if(EXISTS ${FILE_PATH})
+      message(STATUS "found ${FILE_NAME}")
+      file(MD5 ${FILE_PATH} EXISTING_FILE_HASH)
+      if(${FILE_HASH} STREQUAL ${EXISTING_FILE_HASH})
+        message(STATUS "same ${FILE_NAME}")
+        message(STATUS "File already exists.")
+      else()
+        message(STATUS "diff ${FILE_NAME}")
+        message(STATUS "File hash changes. Downloading now ...")
+        file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
+        list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+        list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
+      endif()
+    else()
+      message(STATUS "not found ${FILE_NAME}")
+      message(STATUS "File doesn't exists. Downloading now ...")
+      file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
+      list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+      list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
+    endif()
+    if(${STATUS_CODE} EQUAL 0)
+      message(STATUS "Download completed successfully!")
+    else()
+      message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}")
+    endif()
+  endfunction()
+
+  download(vlp-16.caffemodel f79f56a835893eb5289182dd06ce9905)
+  download(hdl-64.caffemodel f79f56a835893eb5289182dd06ce9905)
+  download(vls-128.caffemodel e5864f65c42d7d69a58fa7b01970d078)
+
   find_package(PCL REQUIRED)
 
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_MWAITXINTRIN_H_INCLUDED")
diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt
index 991583b697d3d..a67484b7353ea 100644
--- a/perception/lidar_centerpoint/CMakeLists.txt
+++ b/perception/lidar_centerpoint/CMakeLists.txt
@@ -66,45 +66,51 @@ else()
   set(CUDNN_AVAIL OFF)
 endif()
 
+message(STATUS "start to download")
 if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
 # Download trained models
-  find_program(GDOWN_AVAIL "gdown")
-  if(NOT GDOWN_AVAIL)
-    message("gdown: command not found. External files could not be downloaded.")
-  endif()
-
   set(DATA_PATH ${CMAKE_CURRENT_SOURCE_DIR}/data)
   execute_process(COMMAND mkdir -p ${DATA_PATH})
 
-  function(download FILE_NAME GFILE_ID FILE_HASH)
-    # https://drive.google.com/file/d/GFILE_ID/view
+  function(download FILE_NAME FILE_HASH)
     message(STATUS "Checking and downloading ${FILE_NAME}")
     set(FILE_PATH ${DATA_PATH}/${FILE_NAME})
+    set(STATUS_CODE 0)
+    message(STATUS "start ${FILE_NAME}")
     if(EXISTS ${FILE_PATH})
+      message(STATUS "found ${FILE_NAME}")
       file(MD5 ${FILE_PATH} EXISTING_FILE_HASH)
-      if(${FILE_HASH} EQUAL ${EXISTING_FILE_HASH})
+      if("${FILE_HASH}" STREQUAL "${EXISTING_FILE_HASH}")
+        message(STATUS "same ${FILE_NAME}")
         message(STATUS "File already exists.")
       else()
+        message(STATUS "diff ${FILE_NAME}")
         message(STATUS "File hash changes. Downloading now ...")
-        execute_process(COMMAND gdown --quiet https://drive.google.com/uc?id=${GFILE_ID} -O ${FILE_PATH})
-        # file(MD5 ${FILE_PATH} DOWNLOADED_FILE_HASH)  # disable to pass ci
-        message(STATUS "Downloaded file hash: ${DOWNLOADED_FILE_HASH}")
+        file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
+        list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+        list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
       endif()
     else()
+      message(STATUS "not found ${FILE_NAME}")
       message(STATUS "File doesn't exists. Downloading now ...")
-      execute_process(COMMAND gdown --quiet https://drive.google.com/uc?id=${GFILE_ID} -O ${FILE_PATH})
-      # file(MD5 ${FILE_PATH} DOWNLOADED_FILE_HASH)  # disable to pass ci
-      message(STATUS "Downloaded file hash: ${DOWNLOADED_FILE_HASH}")
+      file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
+      list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+      list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
+    endif()
+    if(${STATUS_CODE} EQUAL 0)
+      message(STATUS "Download completed successfully!")
+    else()
+      message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}")
     endif()
   endfunction()
 
   # default model
-  download(pts_voxel_encoder_default.onnx 1KFhmA4oFT6CtZx5806QeMzn5H2tKa3oD 410f730c537968cb27fbd70c941849a8)
-  download(pts_backbone_neck_head_default.onnx 1iyk5VoQ4uNBGPZwypVZIMjSuSYAI1RxP e97c165c7877222c0e27e44409a07517)
+  download(pts_voxel_encoder_default.onnx 410f730c537968cb27fbd70c941849a8)
+  download(pts_backbone_neck_head_default.onnx e97c165c7877222c0e27e44409a07517)
 
   # aip_x2 model
-  download(pts_voxel_encoder_aip_x2.onnx 13aYPRHx17Ge4BqxzW9drAUSWTppjtUV5 3ae5e9efd7b2ed12115e6f0b28cac58d)
-  download(pts_backbone_neck_head_aip_x2.onnx 14PJ_L3Jpz6Yi8GzoctVOEbGWcaCLArGp 6a406a19e05660677c162486ab332de8)
+  download(pts_voxel_encoder_aip_x2.onnx 3ae5e9efd7b2ed12115e6f0b28cac58d)
+  download(pts_backbone_neck_head_aip_x2.onnx 6a406a19e05660677c162486ab332de8)
 
   find_package(ament_cmake_auto REQUIRED)
   ament_auto_find_build_dependencies()
diff --git a/perception/tensorrt_yolo/CMakeLists.txt b/perception/tensorrt_yolo/CMakeLists.txt
index e8ac60c30ed37..56d444bd6347a 100755
--- a/perception/tensorrt_yolo/CMakeLists.txt
+++ b/perception/tensorrt_yolo/CMakeLists.txt
@@ -68,100 +68,50 @@ else()
 endif()
 
 # Download onnx
-find_program(GDOWN_AVAIL "gdown")
-if(NOT GDOWN_AVAIL)
-  message("gdown: command not found. External files could not be downloaded.")
-endif()
-set(PATH "${CMAKE_CURRENT_SOURCE_DIR}/data")
-if(NOT EXISTS "${PATH}")
-  execute_process(COMMAND mkdir -p ${PATH})
-endif()
-# yolov3
-set(FILE "${PATH}/yolov3.onnx")
-message(STATUS "Checking and downloading yolov3.onnx")
-if(NOT EXISTS "${FILE}")
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(
-    COMMAND gdown "https://drive.google.com/uc?id=1ZYoBqVynmO5kKntyN56GEbELRpuXG8Ym" -O ${PATH}/yolov3.onnx
-    ERROR_QUIET
-  )
-endif()
-
-# yolov4
-set(FILE "${PATH}/yolov4.onnx")
-message(STATUS "Checking and downloading yolov4.onnx")
-if(NOT EXISTS "${FILE}")
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(
-    COMMAND gdown "https://drive.google.com/uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX" -O ${PATH}/yolov4.onnx
-    ERROR_QUIET
-  )
-endif()
-
-# yolov4-tiny
-set(FILE "${PATH}/yolov4-tiny.onnx")
-message(STATUS "Checking and downloading yolov4.onnx")
-if(NOT EXISTS "${FILE}")
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(
-    COMMAND gdown "https://drive.google.com/uc?id=1rUHjV_JfkmlVFgb20XXrOMWo_HZAjrFh" -O ${PATH}/yolov4-tiny.onnx
-    ERROR_QUIET
-  )
-endif()
-
-# yolov5s
-set(FILE "${PATH}/yolov5s.onnx")
-message(STATUS "Checking and downloading yolov5s.onnx")
-if(NOT EXISTS "${FILE}")
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(
-    COMMAND gdown "https://drive.google.com/uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad" -O ${PATH}/yolov5s.onnx
-    ERROR_QUIET
-  )
-endif()
-
-# yolov5m
-set(FILE "${PATH}/yolov5m.onnx")
-message(STATUS "Checking and downloading yolov5m.onnx")
-if(NOT EXISTS "${FILE}")
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(
-    COMMAND gdown "https://drive.google.com/uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG" -O ${PATH}/yolov5m.onnx
-    ERROR_QUIET
-  )
-endif()
-
-# yolov5l
-set(FILE "${PATH}/yolov5l.onnx")
-message(STATUS "Checking and downloading yolov5l.onnx")
-if(NOT EXISTS "${FILE}")
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(
-    COMMAND gdown "https://drive.google.com/uc?id=1xO8S92Cq7qrmx93UHHyA7Cd7-dJsBDP8" -O ${PATH}/yolov5l.onnx
-    ERROR_QUIET
-  )
-endif()
-
-# yolov5x
-set(FILE "${PATH}/yolov5x.onnx")
-message(STATUS "Checking and downloading yolov5x.onnx")
-if(NOT EXISTS "${FILE}")
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(
-    COMMAND gdown "https://drive.google.com/uc?id=1kAHuNJUCxpD-yWrS6t95H3zbAPfClLxI" -O ${PATH}/yolov5x.onnx
-    ERROR_QUIET
-  )
-endif()
-
-set(FILE "${PATH}/coco.names")
-message(STATUS "Checking and downloading coco.names")
-if(NOT EXISTS "${FILE}")
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(
-    COMMAND gdown "https://drive.google.com/uc?id=19wXD23PE16kJDkZ7j2W3Ijvx5I1kO9kJ" -O ${PATH}/coco.names
-    ERROR_QUIET
-  )
+set(DATA_PATH "${CMAKE_CURRENT_SOURCE_DIR}/data")
+if(NOT EXISTS "${DATA_PATH}")
+  execute_process(COMMAND mkdir -p ${DATA_PATH})
 endif()
+function(download FILE_NAME FILE_HASH)
+  message(STATUS "Checking and downloading ${FILE_NAME}")
+  set(FILE_PATH ${DATA_PATH}/${FILE_NAME})
+  set(STATUS_CODE 0)
+  message(STATUS "start ${FILE_NAME}")
+  if(EXISTS ${FILE_PATH})
+    message(STATUS "found ${FILE_NAME}")
+    file(MD5 ${FILE_PATH} EXISTING_FILE_HASH)
+    if(${FILE_HASH} STREQUAL ${EXISTING_FILE_HASH})
+      message(STATUS "same ${FILE_NAME}")
+      message(STATUS "File already exists.")
+    else()
+      message(STATUS "diff ${FILE_NAME}")
+      message(STATUS "File hash changes. Downloading now ...")
+      file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600)
+      list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+      list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
+    endif()
+  else()
+    message(STATUS "not found ${FILE_NAME}")
+    message(STATUS "File doesn't exists. Downloading now ...")
+    file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600)
+    list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+    list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
+  endif()
+  if(${STATUS_CODE} EQUAL 0)
+    message(STATUS "Download completed successfully!")
+  else()
+    message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}")
+  endif()
+endfunction()
+
+download(yolov3.onnx bde3b120f51db251d9a89cd25205e062)
+download(yolov4.onnx 99ed8c5d18acad2ebb5ee80860d9cbaf)
+download(yolov4-tiny.onnx d16dfd56dddfce75f25d5aaf4c8f4c40)
+download(yolov5s.onnx 646b295db6089597e79163446d6eedca)
+download(yolov5m.onnx 8fc91d70599ac59ae92c6490001fd84b)
+download(yolov5l.onnx 99ff1fc966bda8efbc45c3b8bf00eea2)
+download(yolov5x.onnx c51beebed276735cb16a18ca32959e9f)
+download(coco.names 8fc50561361f8bcf96b0177086e7616c)
 
 # create calib image directory for int8 calibration
 set(CALIB_IMAGE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/calib_image")
diff --git a/perception/traffic_light_classifier/CMakeLists.txt b/perception/traffic_light_classifier/CMakeLists.txt
index 8ebd5f32db99e..1b61e755567a2 100644
--- a/perception/traffic_light_classifier/CMakeLists.txt
+++ b/perception/traffic_light_classifier/CMakeLists.txt
@@ -66,44 +66,43 @@ else()
 endif()
 
 # Download caffemodel and prototxt
-set(PRETRAINED_MODEL_LINK "https://drive.google.com/uc?id=15CQceCn9TZDU6huKJacQvUnDiLHionb3")
-set(PRETRAINED_MODEL_HASH 7dc31c696b0400ddfc2cc5521586fa51)
-set(LAMP_LABEL_LINK "https://drive.google.com/uc?id=1D7n3oGSWLkWgxET6PcWqEzOhmmPcqM52")
-set(LAMP_LABEL_HASH 20167c8e9a1f9d2ec7b0b0088c4100f0)
-
-find_program(GDOWN_AVAIL "gdown")
-if(NOT GDOWN_AVAIL)
-  message(STATUS "gdown: command not found. External files could not be downloaded.")
+set(DATA_PATH "${CMAKE_CURRENT_SOURCE_DIR}/data")
+if(NOT EXISTS "${DATA_PATH}")
+  execute_process(COMMAND mkdir -p ${DATA_PATH})
 endif()
-set(PATH "${CMAKE_CURRENT_SOURCE_DIR}/data")
-if(NOT EXISTS "${PATH}")
-  execute_process(COMMAND mkdir -p ${PATH})
-endif()
-set(FILE "${PATH}/traffic_light_classifier_mobilenetv2.onnx")
-message(STATUS "Checking and downloading traffic_light_classifier_mobilenetv2.onnx")
-if(EXISTS "${FILE}")
-  file(MD5 "${FILE}" EXISTING_FILE_HASH)
-  if(NOT "${PRETRAINED_MODEL_HASH}" EQUAL "${EXISTING_FILE_HASH}")
-    message(STATUS "... file hash changed. Downloading now ...")
-    execute_process(COMMAND gdown --quiet "${PRETRAINED_MODEL_LINK}" -O ${PATH}/traffic_light_classifier_mobilenetv2.onnx)
+function(download FILE_NAME FILE_HASH)
+  message(STATUS "Checking and downloading ${FILE_NAME}")
+  set(FILE_PATH ${DATA_PATH}/${FILE_NAME})
+  set(STATUS_CODE 0)
+  message(STATUS "start ${FILE_NAME}")
+  if(EXISTS ${FILE_PATH})
+    message(STATUS "found ${FILE_NAME}")
+    file(MD5 ${FILE_PATH} EXISTING_FILE_HASH)
+    if(${FILE_HASH} STREQUAL ${EXISTING_FILE_HASH})
+      message(STATUS "same ${FILE_NAME}")
+      message(STATUS "File already exists.")
+    else()
+      message(STATUS "diff ${FILE_NAME}")
+      message(STATUS "File hash changes. Downloading now ...")
+      file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
+      list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+      list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
+    endif()
+  else()
+    message(STATUS "not found ${FILE_NAME}")
+    message(STATUS "File doesn't exists. Downloading now ...")
+    file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
+    list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+    list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
   endif()
-else()
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(COMMAND gdown --quiet "${PRETRAINED_MODEL_LINK}" -O ${PATH}/traffic_light_classifier_mobilenetv2.onnx)
-endif()
-
-set(FILE "${PATH}/lamp_labels.txt")
-message(STATUS "Checking and downloading lamp_labels.txt")
-if(EXISTS "${FILE}")
-  file(MD5 "${FILE}" EXISTING_FILE_HASH)
-  if(NOT "${LAMP_LABEL_HASH}" EQUAL "${EXISTING_FILE_HASH}")
-    message(STATUS "... file does not exist. Downloading now ...")
-    execute_process(COMMAND gdown --quiet "${LAMP_LABEL_LINK}" -O ${PATH}/lamp_labels.txt)
+  if(${STATUS_CODE} EQUAL 0)
+    message(STATUS "Download completed successfully!")
+  else()
+    message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}")
   endif()
-else()
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(COMMAND gdown --quiet "${LAMP_LABEL_LINK}" -O ${PATH}/lamp_labels.txt)
-endif()
+endfunction()
+download(traffic_light_classifier_mobilenetv2.onnx 7dc31c696b0400ddfc2cc5521586fa51)
+download(lamp_labels.txt 20167c8e9a1f9d2ec7b0b0088c4100f0)
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
diff --git a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt
index eb172b7faf981..a531dce2a194b 100644
--- a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt
+++ b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt
@@ -68,45 +68,46 @@ else()
 endif()
 
 # Download caffemodel and prototxt
-set(PRETRAINED_MODEL_LINK "https://drive.google.com/uc?id=1USFDPRH9JrVdGoqt27qHjRgittwc0kcO")
 set(PRETRAINED_MODEL_HASH 34ce7f2cbacbf6da8bc35769f027b73f)
-set(LAMP_LABEL_LINK "https://drive.google.com/uc?id=1hPcKvKgKz0fqEo0cNAXH7roEletqZErL")
 set(LAMP_LABEL_HASH e9f45efb02f2a9aa8ac27b3d5c164905)
 
-find_program(GDOWN_AVAIL "gdown")
-if(NOT GDOWN_AVAIL)
-  message(STATUS "gdown: command not found. External files could not be downloaded.")
+set(DATA_PATH "${CMAKE_CURRENT_SOURCE_DIR}/data")
+if(NOT EXISTS "${DATA_PATH}")
+  execute_process(COMMAND mkdir -p ${DATA_PATH})
 endif()
-set(PATH "${CMAKE_CURRENT_SOURCE_DIR}/data")
-if(NOT EXISTS "${PATH}")
-  execute_process(COMMAND mkdir -p ${PATH})
-endif()
-
-set(FILE "${PATH}/mb2-ssd-lite-tlr.onnx")
-message(STATUS "Checking and downloading mb2-ssd-lite-tlr.onnx")
-if(EXISTS "${FILE}")
-  file(MD5 "${FILE}" EXISTING_FILE_HASH)
-  if(NOT "${PRETRAINED_MODEL_HASH}" EQUAL "${EXISTING_FILE_HASH}")
-    message(STATUS "... file hash changed. Downloading now ...")
-    execute_process(COMMAND gdown --quiet "${PRETRAINED_MODEL_LINK}" -O ${PATH}/mb2-ssd-lite-tlr.onnx)
+function(download FILE_NAME FILE_HASH)
+  message(STATUS "Checking and downloading ${FILE_NAME}")
+  set(FILE_PATH ${DATA_PATH}/${FILE_NAME})
+  set(STATUS_CODE 0)
+  message(STATUS "start ${FILE_NAME}")
+  if(EXISTS ${FILE_PATH})
+    message(STATUS "found ${FILE_NAME}")
+    file(MD5 ${FILE_PATH} EXISTING_FILE_HASH)
+    if(${FILE_HASH} STREQUAL ${EXISTING_FILE_HASH})
+      message(STATUS "same ${FILE_NAME}")
+      message(STATUS "File already exists.")
+    else()
+      message(STATUS "diff ${FILE_NAME}")
+      message(STATUS "File hash changes. Downloading now ...")
+      file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
+      list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+      list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
+    endif()
+  else()
+    message(STATUS "not found ${FILE_NAME}")
+    message(STATUS "File doesn't exists. Downloading now ...")
+    file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
+    list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
+    list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
   endif()
-else()
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(COMMAND gdown --quiet "${PRETRAINED_MODEL_LINK}" -O ${PATH}/mb2-ssd-lite-tlr.onnx)
-endif()
-
-set(FILE "${PATH}/voc_labels_tl.txt")
-message(STATUS "Checking and downloading voc_labels_tl.txt")
-if(EXISTS "${FILE}")
-  file(MD5 "${FILE}" EXISTING_FILE_HASH)
-  if(NOT "${LAMP_LABEL_HASH}" EQUAL "${EXISTING_FILE_HASH}")
-    message(STATUS "... file does not exist. Downloading now ...")
-    execute_process(COMMAND gdown --quiet "${LAMP_LABEL_LINK}" -O ${PATH}/voc_labels_tl.txt)
+  if(${STATUS_CODE} EQUAL 0)
+    message(STATUS "Download completed successfully!")
+  else()
+    message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}")
   endif()
-else()
-  message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(COMMAND gdown --quiet "${LAMP_LABEL_LINK}" -O ${PATH}/voc_labels_tl.txt)
-endif()
+endfunction()
+download(mb2-ssd-lite-tlr.onnx 34ce7f2cbacbf6da8bc35769f027b73f)
+download(voc_labels_tl.txt e9f45efb02f2a9aa8ac27b3d5c164905)
 
 if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
   include_directories(
diff --git a/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp
index 7ab118518ab04..37d8b5ba0b257 100644
--- a/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp
@@ -231,7 +231,7 @@ bool StopLineModule::modifyPathVelocity(
 
   // If no collision found, do nothing
   if (!collision) {
-    RCLCPP_WARN(logger_, "is no collision");
+    RCLCPP_WARN_THROTTLE(logger_, *clock_, 5000 /* ms */, "is no collision");
     return true;
   }
 
diff --git a/planning/scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml b/planning/scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml
index b43d648b7c011..d6a269f3a94c3 100644
--- a/planning/scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml
+++ b/planning/scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml
@@ -9,11 +9,7 @@
   <arg name="input_odometry" default=""/>
   <arg name="is_parking_completed" default=""/>
 
-  <node pkg="topic_tools" exec="relay" name="scenario_trajectory_relay" output="log">
-    <param name="input_topic" value="$(var input_lane_driving_trajectory)"/>
-    <param name="output_topic" value="$(var output_trajectory)"/>
-    <param name="type" value="tier4_planning_msgs/msg/Trajectory"/>
-  </node>
+  <node pkg="topic_tools" exec="relay" name="scenario_trajectory_relay" output="log" args="$(var input_lane_driving_trajectory) $(var output_trajectory)"/>
 
   <arg name="cmd" default="ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}'"/>
   <executable cmd="$(var cmd)" name="scenario_pub" output="screen" shell="true"/>
diff --git a/planning/scenario_selector/launch/dummy_scenario_selector_parking.launch.xml b/planning/scenario_selector/launch/dummy_scenario_selector_parking.launch.xml
index 01f6ab194d905..f72eb4bd55195 100644
--- a/planning/scenario_selector/launch/dummy_scenario_selector_parking.launch.xml
+++ b/planning/scenario_selector/launch/dummy_scenario_selector_parking.launch.xml
@@ -9,11 +9,7 @@
   <arg name="input_odometry" default=""/>
   <arg name="is_parking_completed" default=""/>
 
-  <node pkg="topic_tools" exec="relay" name="scenario_trajectory_relay" output="log">
-    <param name="input_topic" value="$(var input_parking_trajectory)"/>
-    <param name="output_topic" value="$(var output_trajectory)"/>
-    <param name="type" value="tier4_planning_msgs/msg/Trajectory"/>
-  </node>
+  <node pkg="topic_tools" exec="relay" name="scenario_trajectory_relay" output="log" args="$(var input_parking_trajectory) $(var output_trajectory)"/>
 
   <arg name="cmd" default="ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}'"/>
   <executable cmd="$(var cmd)" name="scenario_pub" output="screen" shell="true"/>
diff --git a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.xml b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.xml
index f8301e6327990..bba1a1b1c6a8c 100644
--- a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.xml
+++ b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.xml
@@ -4,14 +4,14 @@
      To subscribe multiple topics, write as:
      "['/points_raw0', '/points_raw1', '/points_raw2', ...]"
      This syntax is also available from command line -->
-  <arg name="input_points_raw_list" default="['/points_raw']" desc="define as string_array"/>
+  <arg name="input_points_raw_list" default="['/points_raw']" description="define as string_array"/>
 
-  <arg name="output_points_raw" default="/points_raw/cropbox/filtered" desc=""/>
-  <arg name="tf_output_frame" default="base_link" desc=""/>
+  <arg name="output_points_raw" default="/points_raw/cropbox/filtered" description=""/>
+  <arg name="tf_output_frame" default="base_link" description=""/>
 
   <include file="$(find-pkg-share pointcloud_preprocessor)/launch/preprocessor.launch.py">
-    <param name="input_points_raw_list" value="$(var input_points_raw_list)"/>
-    <param name="output_points_raw" value="$(var output_points_raw)"/>
-    <param name="tf_output_frame" value="$(var tf_output_frame)"/>
+    <arg name="input_points_raw_list" value="$(var input_points_raw_list)"/>
+    <arg name="output_points_raw" value="$(var output_points_raw)"/>
+    <arg name="tf_output_frame" value="$(var tf_output_frame)"/>
   </include>
 </launch>
diff --git a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp
index 373e7a6266218..3f9f427a8f93d 100644
--- a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp
@@ -77,27 +77,29 @@ void BlockageDiagComponent::onBlockageChecker(DiagnosticStatusWrapper & stat)
   // TODO(badai-nguyen): consider sky_blockage_ratio_ for DiagnosticsStatus." [todo]
 
   auto level = DiagnosticStatus::OK;
+  std::string msg;
   if (ground_blockage_ratio_ < 0) {
     level = DiagnosticStatus::STALE;
+    msg = "STALE";
   } else if (
     (ground_blockage_ratio_ > blockage_ratio_threshold_) &&
     (ground_blockage_count_ > blockage_count_threshold_)) {
     level = DiagnosticStatus::ERROR;
+    msg = "ERROR";
   } else if (ground_blockage_ratio_ > 0.0f) {
     level = DiagnosticStatus::WARN;
+    msg = "WARN";
   } else {
     level = DiagnosticStatus::OK;
+    msg = "OK";
   }
 
-  std::string msg;
-  if (level == DiagnosticStatus::OK) {
-    msg = "OK";
-  } else if (level == DiagnosticStatus::WARN) {
-    msg = "WARNING: LiDAR blockage";
-  } else if (level == DiagnosticStatus::ERROR) {
-    msg = "ERROR: LiDAR blockage";
-  } else if (level == DiagnosticStatus::STALE) {
-    msg = "STALE";
+  if ((ground_blockage_ratio_ > 0.0f) && (sky_blockage_ratio_ > 0.0f)) {
+    msg = msg + ": LIDAR both blockage";
+  } else if (ground_blockage_ratio_ > 0.0f) {
+    msg = msg + ": LIDAR ground blockage";
+  } else if (sky_blockage_ratio_ > 0.0f) {
+    msg = msg + ": LIDAR sky blockage";
   }
   stat.summary(level, msg);
 }