diff --git a/edge_auto_launch/config/roi_cluster_fusion.param.yaml b/edge_auto_launch/config/roi_cluster_fusion.param.yaml
new file mode 100644
index 0000000..e8c9f85
--- /dev/null
+++ b/edge_auto_launch/config/roi_cluster_fusion.param.yaml
@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    fusion_distance: 100.0
+    trust_object_distance: 100.0
+    trust_object_iou_mode: "iou"
+    non_trust_object_iou_mode: "iou"
+    use_cluster_semantic_type: false
+    # only_allow_inside_cluster: true
+    only_allow_inside_cluster: false
+    roi_scale_factor: 1.1
+    iou_threshold: 0.3
+    unknown_iou_threshold: 0.1
+    remove_unknown: true
+    debug_mode: true
+    image_buffer_size: 1000
+
diff --git a/edge_auto_launch/config/scan_ground_filter.param.yaml b/edge_auto_launch/config/scan_ground_filter.param.yaml
index cd18c66..35d494a 100644
--- a/edge_auto_launch/config/scan_ground_filter.param.yaml
+++ b/edge_auto_launch/config/scan_ground_filter.param.yaml
@@ -1,6 +1,18 @@
 /**:
   ros__parameters:
     global_slope_max_angle_deg: 10.0
-    local_slope_max_angle_deg: 30.0
+    local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode
     split_points_distance_tolerance: 0.2
+    use_virtual_ground_point: True
     split_height_distance: 0.2
+    non_ground_height_threshold: 0.20
+    grid_size_m: 0.1
+    grid_mode_switch_radius: 20.0
+    gnd_grid_buffer_size: 4
+    detection_range_z_max: 2.5
+    elevation_grid_mode: true
+    low_priority_region_x: -20.0
+    center_pcl_shift: 0.0
+    radial_divider_angle_deg: 1.0
+    use_recheck_ground_cluster: true
+    use_lowest_point: true
diff --git a/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml b/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml
index f63b2c5..ce1fe72 100755
--- a/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml
+++ b/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml
@@ -23,6 +23,7 @@
     <node_container pkg="rclcpp_components" exec="component_container" name="nebula_xt32_node" namespace="/">
       <composable_node pkg="nebula_ros" plugin="HesaiDriverRosWrapper" name="hesai_driver_roswrapper_node" namespace="$(var namespace)">
         <param name="sensor_model" value="$(var sensor_model)"/>
+        <param name="sensor_ip" value="$(var sensor_ip)"/>
         <param name="return_mode" value="$(var return_mode)"/>
         <param name="frame_id" value="$(var frame_id)"/>
         <param name="scan_phase" value="$(var scan_phase)"/>
@@ -50,6 +51,9 @@
         <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
         <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
         <param name="setup_sensor" value="$(var setup_sensor)"/>
+        <param name="ptp_profile" value="1588v2"/>
+        <param name="ptp_transport_type" value="udp"/>
+        <param name="ptp_switch_type" value="non_tsn"/>
         <extra_arg name="use_intra_process_comms" value="true"/>
       </composable_node>
       <composable_node pkg="nebula_ros" plugin="HesaiHwMonitorRosWrapper" name="hesai_hw_monitor_ros_wrapper_node" namespace="$(var namespace)">
diff --git a/edge_auto_launch/launch/component/roi_cluster_fusion.launch.xml b/edge_auto_launch/launch/component/roi_cluster_fusion.launch.xml
index 1f4a916..22d1c08 100644
--- a/edge_auto_launch/launch/component/roi_cluster_fusion.launch.xml
+++ b/edge_auto_launch/launch/component/roi_cluster_fusion.launch.xml
@@ -8,8 +8,7 @@
   <arg name="input/clusters" default="input/clusters"/>
   <arg name="output/clusters" default="output/clusters"/>
   <arg name="sync_param_path" default="$(find-pkg-share edge_auto_launch)/config/roi_sync.param.yaml"/>
-  <arg name="remove_unknown" default="true"/>
-  <arg name="trust_distance" default="100.0"/>
+  <arg name="param_path" default="$(find-pkg-share edge_auto_launch)/config/roi_cluster_fusion.param.yaml"/>
 
   <!-- for eval variable-->
   <arg name="input_rois_number" default="$(var input/rois_number)"/>
@@ -20,23 +19,12 @@
     <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/rois1" to="$(var input/rois1)"/>
     <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/camera_info1" to="$(var input/camera_info1)"/>
 
-    <node pkg="image_projection_based_fusion" exec="roi_cluster_fusion_node" name="roi_cluster_fusion" output="screen">
+    <node pkg="autoware_image_projection_based_fusion" exec="roi_cluster_fusion_node" name="roi_cluster_fusion" output="screen">
       <param name="rois_number" value="$(var input/rois_number)"/>
       <param from="$(var sync_param_path)"/>
+      <param from="$(var param_path)"/>
       <remap from="input" to="$(var input/clusters)"/>
       <remap from="output" to="$(var output/clusters)"/>
-
-      <param name="remove_unknown" value="$(var remove_unknown)"/>
-      <param name="trust_distance" value="$(var trust_distance)"/>
-
-      <param name="use_iou" value="true"/>
-      <param name="use_iou_x" value="false"/>
-      <param name="use_iou_y" value="false"/>
-      <param name="only_allow_inside_cluster" value="true"/>
-      <param name="roi_scale_factor" value="1.1"/>
-
-      <param name="iou_threshold" value="0.3"/>
-      <param name="debug_mode" value="false"/>
     </node>
   </group>
 </launch>
diff --git a/edge_auto_launch/launch/component/voxel_grid_based_euclidean_cluster.launch.xml b/edge_auto_launch/launch/component/voxel_grid_based_euclidean_cluster.launch.xml
index 0755265..740b2f4 100644
--- a/edge_auto_launch/launch/component/voxel_grid_based_euclidean_cluster.launch.xml
+++ b/edge_auto_launch/launch/component/voxel_grid_based_euclidean_cluster.launch.xml
@@ -5,7 +5,7 @@
 
   <group>
     <node_container pkg="rclcpp_components" exec="component_container" name="container" namespace="">
-      <composable_node pkg="euclidean_cluster" plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode" name="euclidean_cluster" namespace="">
+      <composable_node pkg="autoware_euclidean_cluster" plugin="autoware::euclidean_cluster::VoxelGridBasedEuclideanClusterNode" name="euclidean_cluster" namespace="">
         <remap from="input" to="$(var input/pointcloud)"/>
         <remap from="output" to="$(var output/objects)"/>
         <param from="$(var param_path)"/>
diff --git a/edge_auto_launch/launch/perception_xt32_sample.launch.xml b/edge_auto_launch/launch/perception_xt32_sample.launch.xml
index d0b4320..f651be1 100755
--- a/edge_auto_launch/launch/perception_xt32_sample.launch.xml
+++ b/edge_auto_launch/launch/perception_xt32_sample.launch.xml
@@ -7,7 +7,7 @@
   <arg name="sensor_height" default="1.0"/>
 
   <!-- vehicle_info -->
-  <include file="$(find-pkg-share vehicle_info_util)/launch/vehicle_info.launch.py">
+  <include file="$(find-pkg-share autoware_vehicle_info_utils)/launch/vehicle_info.launch.py">
     <arg name="vehicle_info_param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/vehicle_info.param.yaml"/>
   </include>
 
@@ -60,7 +60,7 @@
           <arg name="output/objects" value="objects_with_feature"/>
           <arg name="node_name" value="shape_estimation"/>
         </include>
-        <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+        <include file="$(find-pkg-share autoware_detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
           <arg name="input" value="objects_with_feature"/>
           <arg name="output" value="/perception/object_recognition/detection/euclidean_cluster/objects"/>
           <arg name="node_name" value="detected_object_feature_remover"/>
@@ -78,12 +78,12 @@
         <arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
         <arg name="input/camera_info1" value="/sensing/camera/camera1/camera_info"/>
       </include>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+      <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="input/objects" value="clusters"/>
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="node_name" value="shape_estimation"/>
       </include>
-      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+      <include file="$(find-pkg-share autoware_detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
         <arg name="input" value="objects_with_feature"/>
         <arg name="output" value="/perception/object_recognition/detection/objects"/>
         <arg name="node_name" value="detected_object_feature_remover"/>