diff --git a/README.md b/README.md
index 13bdb38d3..dc6f60786 100644
--- a/README.md
+++ b/README.md
@@ -19,6 +19,5 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map
 - [autoware_launch](./autoware_launch)
 - [control_launch](./control_launch)
 - [integration_launch](./integration_launch)
-- [perception_launch](./perception_launch)
 - [planning_launch](./planning_launch)
 - [system_launch](./system_launch)
diff --git a/autoware_api_launch/launch/autoware_api.launch.xml b/autoware_api_launch/launch/autoware_api.launch.xml
index 509e0c4f9..ccc1527fb 100644
--- a/autoware_api_launch/launch/autoware_api.launch.xml
+++ b/autoware_api_launch/launch/autoware_api.launch.xml
@@ -1,38 +1,9 @@
 <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 -->
+  <!-- forwarding options -->
+  <arg name="launch_deprecated_api" default="true"/>
+  <arg name="rosbridge_enabled" default="true"/>
+  <arg name="rosbridge_max_message_size" default="1000000000"/>
   <group>
-    <push-ros-namespace namespace="autoware_api/utils"/>
-    <include file="$(find-pkg-share path_distance_calculator)/launch/path_distance_calculator.launch.xml"/>
+    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.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 3aafd3d1b..000000000
--- 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 f1962908c..000000000
--- 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 e850fb3dc..000000000
--- 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/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/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index bd92c6d5e..f3d79b996 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -100,8 +100,9 @@
 
   <!-- 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)"/>
@@ -134,17 +135,8 @@
     <include file="$(find-pkg-share autoware_api_launch)/launch/autoware_api.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="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var rviz)"/>
+  <!-- Rviz -->
+  <group if="$(var rviz)">
+    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"/>
   </group>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
new file mode 100644
index 000000000..9d963a0c3
--- /dev/null
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="mode"/>
+  <arg name="vehicle_param_file"/>
+  <arg name="use_pointcloud_container"/>
+  <arg name="pointcloud_container_name"/>
+  <arg name="enable_fine_detection"/>
+
+  <include file="$(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="$(var traffic_light_recognition/enable_fine_detection)"/>
+
+    <arg
+      name="object_recognition_detection_object_lanelet_filter_param_path"
+      value="$(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/package.xml b/autoware_launch/package.xml
index 165a1b0e7..76260f859 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -13,14 +13,15 @@
   <exec_depend>autoware_api_launch</exec_depend>
   <exec_depend>control_launch</exec_depend>
   <exec_depend>global_parameter_loader</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_localization_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>
+  <exec_depend>tier4_perception_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
   <exec_depend>tier4_vehicle_launch</exec_depend>
 
diff --git a/control_launch/config/trajectory_follower/trajectory_follower_node.param.yaml b/control_launch/config/trajectory_follower/trajectory_follower_node.param.yaml
new file mode 100644
index 000000000..dcd985bb4
--- /dev/null
+++ b/control_launch/config/trajectory_follower/trajectory_follower_node.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    ctrl_period: 0.03
+    timeout_thr_sec: 0.5
diff --git a/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index 487669935..351ad877e 100644
--- a/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -12,9 +12,11 @@
       lon_jerk_lim: 5.0
       lat_acc_lim: 5.0
       lat_jerk_lim: 5.0
+      actual_steer_diff_lim: 1.0
     on_transition:
       vel_lim: 50.0
       lon_acc_lim: 1.0
       lon_jerk_lim: 0.5
       lat_acc_lim: 1.2
       lat_jerk_lim: 0.75
+      actual_steer_diff_lim: 0.05
diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
index 1962c8d52..0dc4d1e83 100644
--- a/control_launch/launch/control.launch.py
+++ b/control_launch/launch/control.launch.py
@@ -39,6 +39,11 @@ def launch_setup(context, *args, **kwargs):
     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
     )
@@ -83,6 +88,7 @@ def launch_setup(context, *args, **kwargs):
                 "longitudinal_controller_mode": LaunchConfiguration("longitudinal_controller_mode"),
             },
             nearest_search_param,
+            trajectory_follower_node_param,
             lon_controller_param,
             lat_controller_param,
         ],
@@ -208,7 +214,12 @@ def launch_setup(context, *args, **kwargs):
         launch_arguments=[
             ("use_intra_process", LaunchConfiguration("use_intra_process")),
             ("target_container", "/control/control_container"),
-            ("initial_selector_mode", LaunchConfiguration("initial_selector_mode")),
+            # 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"),
+            ),
         ],
     )
 
@@ -284,7 +295,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "lat_controller_param_path",
         [
             FindPackageShare("control_launch"),
-            "/config/mpc_lateral_controller/mpc_lateral_controller.param.yaml",
+            "/config/trajectory_follower/lateral/mpc.param.yaml",
         ],
         "path to the parameter file of lateral controller. default is `mpc_follower`",
     )
@@ -292,7 +303,15 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "lon_controller_param_path",
         [
             FindPackageShare("control_launch"),
-            "/config/pid_longitudinal_controller/pid_longitudinal_controller.param.yaml",
+            "/config/trajectory_follower/longitudinal/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",
     )
@@ -332,6 +351,13 @@ def add_launch_arg(name: str, default_value=None, description=None):
 
     # 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")
diff --git a/perception_launch/CMakeLists.txt b/perception_launch/CMakeLists.txt
deleted file mode 100644
index ade04cfcd..000000000
--- 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 9cc11ca6f..000000000
--- 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 7dc95ddec..000000000
--- 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="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
-  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
-  <arg name="centerpoint_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var centerpoint_model_name).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 86e37f80d..000000000
--- 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 c4a9c00e4..000000000
--- 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 9e772759d..000000000
--- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ /dev/null
@@ -1,147 +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="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
-  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
-  <arg name="centerpoint_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var centerpoint_model_name).param.yaml"/>
-
-  <!-- Pointcloud map filter -->
-  <group>
-    <include file="$(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="$(find-pkg-share perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>
-    </include>
-  </group>
-</launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
deleted file mode 100644
index 8150315c9..000000000
--- a/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- lidar param -->
-  <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
-  <arg name="score_threshold" default="0.20"/>
-
-  <!-- lidar based detection-->
-  <group>
-    <include file="$(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 afcf9021c..000000000
--- 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 21de187f1..000000000
--- 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="$(var output/objects)"/>
-    <arg name="update_rate_hz" value="20.0"/>
-    <arg name="use_twist_compensation" value="true"/>
-  </include>
-</launch>
diff --git a/perception_launch/launch/object_recognition/prediction/prediction.launch.xml b/perception_launch/launch/object_recognition/prediction/prediction.launch.xml
deleted file mode 100644
index fd9d1ba6f..000000000
--- a/perception_launch/launch/object_recognition/prediction/prediction.launch.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="use_vector_map" default="false" description="use vector map in prediction"/>
-
-  <group if="$(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 65ac62ef3..000000000
--- 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 f63af3165..000000000
--- 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 d371fa439..000000000
--- 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 2feefdfb1..000000000
--- 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 91931d53b..000000000
--- 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/concatenated/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 8d3ca7452..000000000
--- 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 8827dfbb9..000000000
--- 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 b593cacef..000000000
--- 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 49bfa1f70..000000000
--- a/perception_launch/perception_launch.drawio.svg
+++ /dev/null
@@ -1,309 +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="761px" viewBox="-0.5 -0.5 1209 761" content="&lt;mxfile&gt;&lt;diagram id=&quot;hw8opUG3N7cuFXbovIOC&quot; name=&quot;ページ1&quot;&gt;7Vpbc9o4FP41zOw+hLEtWzaPJGm7D92ZznRntn1ihC1ArbG8skigv34lLNuSbAIBQ8gU8hDr6OpzvnO1BuBhuf7EUL74myY4HXhOsh6Ax4HnuSD0xT9J2ShKFLglZc5IomgN4Sv5hRXRUdQVSXBhDOSUppzkJjGmWYZjbtAQY/TZHDajqblrjua4Rfgao7RN/ZckfFFSIy9s6H9hMl9UO7twVPYsUTVYvUmxQAl91kjgwwA8MEp5+bRcP+BUcq/iSznv447e+mAMZ/yQCTAqZzyhdKVeTh2Mb6q3xYl4edXMaCb+3VPGF3ROM5R+pjQXdFcQf2DON0pYaMWpIC34MlW9eE34N+35u3h2hoFqPUpwOFVjUzUyzjbf9IY2SzabadtWNY/RVZbgRO3W5oliU0FXLFYvCZVAOGJzrIZBWNIkA7SJipOfMF1isasYwHCKOHky0YEUyOb1uHrqF0rEUTxHaUQQqM2VPoAK59US5UHVLF2a1kIwDF5eqHy71kJjxtBGG5bLAcXuA0PPPLAHnJfPZY0HgTFePJQnqFoacxvSFrndKA6dG4p3ozi8EIqhCT7PPxbFIwst8DpR7If9othrgTjHgmE5JzQbpmiVxYvhWiDRg6kQ7f2Uiac530JjFyUhTzapyFFW0XIU/9y6urGEVr3ZpNysmiHOrU/SyMbylr416JVYfl4Qjr+K/WTvswgLTLWakTR9oCll27kgjnEwm8nDckZ/Yq0HQDACiZxBM67RnbH8E/QnzDgRnnqcknkm+pYkSeSR7pEixEJ/MHtJoeQSeP2iqtSBi0LEcxMFuBV6F3oE4FgQ1tVJA9CL+PAPMHJZMpbxjXzPFBUFid/OfB1ksLwOe+UcaK80pgcdPK9oJ5o117JGnm2NDjVrnm1uDjRrR1gSF/YHlQYe37Webqgc7aNC96pkHjj+MPJHzc8QXADgcBQdB4LANUFQ+5SefRsYmc44UO3efFVlKxuE/cPEU1fU9RlNRQJogKtljHeabYYL8gtNt+tJiKkXF4sH94PgUXkCFa8J3HeCsFIH27DXGaLaYKAnYQbu1Cxn6EQBNDh75/YCuTsLGHeeG5pr0NmswKdahipFffdO5Eoshb/PqB9qGHx4Me8ADkqOzPjtmFSpErl7KZGf6uk9xzLObnCcMPev1KM0QUujq/DdydASvzpd0HAB/1vJQtS9sJr8TtlsmSqkeMab3sMzDNUwD/Yu0ovt78SkQfVGpmd2O1KILoPl2rWcY1II0M4h5KHHLfZKiZs8NHmljITOWEU63LV3Cc0Uq+ba/Z64b9lr2Oa+38F8O0o7hveVUDXeZzSxteGmprXSYTcJcNilpiMYAgTPq6Z1UfEt9DQYtbBC+UKo0w0sO8AioBIlfhdYIm8K4JnB4gdvCBbYNiwDz//jCUm4rAo8wcucbybJRkiIxBM6/SEynkm+mqakEJj6sy2HBV1OV8V+GfShZsByhx0lNeB1sa6Pkhr0WqxLMBfsObHkekZ9e9dV2h5VDkbOXuB0+vJ+gNOOulu8PUtSdQ25994vTooXZ//iZLlozxsNj8zYINi7VH8pG2xH4R9RWrx59SzoFHoN9R6qZyKwiUytHfRSPAv8rlV7rZzBdk2dM2GZSTa/eYp35SmAc1FP0a645gwn5BZjvD/k1NXeiyCn+iimF2u2kXwZwRdNCH9F2ElWy+VmoiGodcjfrZBggyjwDwVRH8lh2M5whNuazUQimMqtJgzHdJ6RmzW6emvkWUUGGF7UGh2X8Vw6x7lzho7jm4kOdKI9qY551W7b9wUzIpgk4+uTrrNUCnj2r1fWB8TqjuXr76lE9tWB81xR8Kwv3vuu39njQ+Ba+H3VlQbRbK5Zl8Ob2+rgw/8=&lt;/diagram&gt;&lt;/mxfile&gt;">
-    <defs/>
-    <g>
-        <path d="M 555 220 L 610 220 Q 620 220 620 230 L 620 330 Q 620 340 630 340 L 673.63 340" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/>
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-        <rect x="0" y="170" width="190" 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">
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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: #0A0A0A; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                perception.launch.xml
-                                <br/>
-                                <br/>
-                                <div>
-                                    <span>
-                                        package: perception_launch
-                                    </span>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="95" y="224" fill="#0A0A0A" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    perception.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">
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-                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
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-                                True
-                            </div>
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-                    </div>
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-        <path d="M 458.88 250 L 451.88 253.5 L 453.63 250 L 451.88 246.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/>
-        <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>
-                <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: 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:
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-        <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 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...
-                </text>
-            </switch>
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-        <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>
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-                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
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-                                tracking.launch.xml
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: perception_launch
-                                    </span>
-                                </div>
-                            </div>
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-                                prediction.launch.xml
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: perception_launch
-                                    </span>
-                                </div>
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-                                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">
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-                                traffic_light_recognition.launch.xml
-                                <br/>
-                                <br/>
-                                <div style="text-align: left">
-                                    <span>
-                                        package: perception_launch
-                                    </span>
-                                </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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diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index e6461fa2b..40de19bd6 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -2,74 +2,26 @@
 /**:
   ros__parameters:
     avoidance:
-      resample_interval_for_planning: 0.3
-      resample_interval_for_output: 4.0
-      detection_area_right_expand_dist: 0.0
-      detection_area_left_expand_dist: 1.0
-
+      resample_interval_for_planning: 0.3               # [m]
+      resample_interval_for_output: 4.0                 # [m]
+      detection_area_right_expand_dist: 0.0             # [m]
+      detection_area_left_expand_dist: 1.0              # [m]
+      drivable_area_right_bound_offset: 0.0             # [m]
+      drivable_area_left_bound_offset: 0.0              # [m]
+      object_envelope_buffer: 0.3                       # [m]
+
+      # avoidance module common setting
+      enable_bound_clipping: false
       enable_avoidance_over_same_direction: true
       enable_avoidance_over_opposite_direction: true
       enable_update_path_when_object_is_gone: false
       enable_safety_check: false
-
-      # For target object filtering
-      threshold_speed_object_is_stopped: 1.0      # [m/s]
-      threshold_time_object_is_moving: 1.0        # [s]
-
-      object_check_forward_distance: 150.0        # [m]
-      object_check_backward_distance: 2.0         # [m]
-
-      threshold_distance_object_is_on_center: 1.0 # [m]
-
-      object_check_shiftable_ratio: 0.6           # [-]
-      object_check_min_road_shoulder_width: 0.5   # [m]
-
-      # For safety check
-      safety_check_backward_distance: 50.0        # [m]
-      safety_check_time_horizon: 10.0             # [s]
-      safety_check_idling_time: 1.5               # [s]
-      safety_check_accel_for_rss: 2.5             # [m/ss]
-
-      # For lateral margin
-      object_envelope_buffer: 0.3                 # [m]
-      lateral_collision_margin: 1.0               # [m]
-      lateral_collision_safety_buffer: 0.7        # [m]
-
-      # For longitudinal margin
-      longitudinal_collision_margin_buffer: 0.0   # [m]
-
-      prepare_time: 2.0                           # [s]
-      min_prepare_distance: 1.0                   # [m]
-      min_avoidance_distance: 10.0                # [m]
-
-      min_nominal_avoidance_speed: 7.0  # [m/s]
-      min_sharp_avoidance_speed: 1.0    # [m/s]
-
-      road_shoulder_safety_margin: 0.0 # [m]
-
-      max_right_shift_length: 5.0
-      max_left_shift_length: 5.0
-
-      nominal_lateral_jerk: 0.2   # [m/s3]
-      max_lateral_jerk: 1.0       # [m/s3]
-
-      object_last_seen_threshold: 2.0
-
-      # For prevention of large acceleration while avoidance
-      min_avoidance_speed_for_acc_prevention: 3.0  # [m/s]
-      max_avoidance_acceleration: 0.5  # [m/ss]
-
-      # bound clipping for objects
-      enable_bound_clipping: false
+      enable_yield_maneuver: false
 
       # for debug
       publish_debug_marker: false
       print_debug_info: false
 
-      # not enabled yet
-      longitudinal_collision_margin_min_distance: 0.0          # [m]
-      longitudinal_collision_margin_time: 0.0
-
       # avoidance is performed for the object type with true
       target_object:
         car: true
@@ -81,11 +33,80 @@
         motorcycle: false
         pedestrian: false
 
-      # ---------- advanced parameters ----------
-      avoidance_execution_lateral_threshold: 0.499
+      # For target object filtering
+      target_filtering:
+        # filtering moving objects
+        threshold_speed_object_is_stopped: 1.0          # [m/s]
+        threshold_time_object_is_moving: 1.0            # [s]
+        # detection range
+        object_check_forward_distance: 150.0            # [m]
+        object_check_backward_distance: 2.0             # [m]
+        object_check_goal_distance: 20.0                # [m]
+        # filtering parking objects
+        threshold_distance_object_is_on_center: 1.0     # [m]
+        object_check_shiftable_ratio: 0.6               # [-]
+        object_check_min_road_shoulder_width: 0.5       # [m]
+        # lost object compensation
+        object_last_seen_threshold: 2.0
+
+      # For safety check
+      safety_check:
+        safety_check_backward_distance: 50.0            # [m]
+        safety_check_time_horizon: 10.0                 # [s]
+        safety_check_idling_time: 1.5                   # [s]
+        safety_check_accel_for_rss: 2.5                 # [m/ss]
+        safety_check_hysteresis_factor: 2.0             # [-]
+
+      # For avoidance maneuver
+      avoidance:
+        # avoidance lateral parameters
+        lateral:
+          lateral_collision_margin: 1.0                 # [m]
+          lateral_collision_safety_buffer: 0.7          # [m]
+          lateral_passable_safety_buffer: 0.0           # [m]
+          road_shoulder_safety_margin: 0.0              # [m]
+          avoidance_execution_lateral_threshold: 0.499
+          max_right_shift_length: 5.0
+          max_left_shift_length: 5.0
+        # avoidance distance parameters
+        longitudinal:
+          prepare_time: 2.0                             # [s]
+          longitudinal_collision_safety_buffer: 0.0     # [m]
+          min_prepare_distance: 1.0                     # [m]
+          min_avoidance_distance: 10.0                  # [m]
+          min_nominal_avoidance_speed: 7.0              # [m/s]
+          min_sharp_avoidance_speed: 1.0                # [m/s]
+
+      # For yield maneuver
+      yield:
+        yield_velocity: 2.78                            # [m/s]
+
+      # For stop maneuver
+      stop:
+        min_distance: 10.0                              # [m]
+        max_distance: 20.0                              # [m]
+
+      constraints:
+        # vehicle slows down under longitudinal constraints
+        use_constraints_for_decel: false                # [-]
+
+        # lateral constraints
+        lateral:
+          nominal_lateral_jerk: 0.2                     # [m/s3]
+          max_lateral_jerk: 1.0                         # [m/s3]
+
+        # longitudinal constraints
+        longitudinal:
+          nominal_deceleration: -1.0                    # [m/ss]
+          nominal_jerk: 0.5                             # [m/sss]
+          max_deceleration: -2.0                        # [m/ss]
+          max_jerk: 1.0
+          # For prevention of large acceleration while avoidance
+          min_avoidance_speed_for_acc_prevention: 3.0   # [m/s]
+          max_avoidance_acceleration: 0.5               # [m/ss]
 
       target_velocity_matrix:
-        col_size: 4
+        col_size: 2
         matrix:
-          [2.78, 5.56, 11.1, 13.9,   # velocity [m/s]
-           0.20, 0.90, 1.10, 1.20]   # margin [m]
+          [2.78, 13.9,                                  # velocity [m/s]
+           0.50, 1.00]                                  # margin [m]
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
index 660a4d2af..29d577a7a 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
+++ b/planning_launch/config/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/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 66d66fe78..891e54a54 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -9,21 +9,26 @@
       backward_length_buffer_for_end_of_lane: 2.0
       lane_change_finish_judge_buffer: 3.0      # [m]
 
-      double lane_changing_lateral_jerk: 0.5
-      double lane_changing_lateral_acc: 0.5
+      lane_changing_lateral_jerk: 0.5           # [m/s3]
+      lane_changing_lateral_acc: 0.5            # [m/s2]
 
       minimum_lane_change_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]
       maximum_deceleration: 1.0                 # [m/s2]
       lane_change_sampling_num: 10
 
-      abort_lane_change_velocity_thresh: 0.5
-      abort_lane_change_angle_thresh: 10.0      # [deg]
-      abort_lane_change_distance_thresh: 0.3    # [m]
-      prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
-
-      enable_abort_lane_change: true
+      # collision check
       enable_collision_check_at_prepare_phase: true
+      prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
       use_predicted_path_outside_lanelet: true
       use_all_predicted_path: false
+
+      # abort
+      enable_cancel_lane_change: true
+      enable_abort_lane_change: false
+
+      abort_delta_time: 3.0                      # [s]
+      abort_max_lateral_jerk: 1000.0             # [m/s3]
+
+      # debug
       publish_debug_marker: false
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
index 75b5facaa..4c9f4fd41 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     pull_over:
-      request_length: 200.0
+      request_length: 100.0
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 2.0  # It must be greater than the state_machine's.
@@ -17,7 +17,7 @@
       backward_goal_search_length: 20.0
       goal_search_interval: 2.0
       longitudinal_margin: 3.0
-      max_lateral_offset: 1.0
+      max_lateral_offset: 0.5
       lateral_offset_interval: 0.25
       # occupancy grid map
       use_occupancy_grid: true
@@ -34,7 +34,7 @@
       maximum_lateral_jerk: 2.0
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0
-      after_pull_over_straight_distance: 5.0
+      after_pull_over_straight_distance: 1.0
       # parallel parking path
       enable_arc_forward_parking: true
       enable_arc_backward_parking: true
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
index 31f75d7f7..5af1c99f8 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
@@ -6,3 +6,4 @@
       backward_length: 15.0 # [m]
       ignore_width_from_center_line: 0.7 # [m]
       max_future_movement_time: 10.0 # [second]
+      threshold_yaw_diff: 0.523 # [rad]