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/calibration_extrinsic_at128_sample.launch.xml b/edge_auto_launch/launch/calibration_extrinsic_at128_sample.launch.xml
index 270755e..e93c70a 100644
--- a/edge_auto_launch/launch/calibration_extrinsic_at128_sample.launch.xml
+++ b/edge_auto_launch/launch/calibration_extrinsic_at128_sample.launch.xml
@@ -6,17 +6,12 @@
   <arg name="live_sensor" default="True"/>
 
   <!-- variables -->
-  <let name="lidar_model" value="at128"/>
   <let name="lidar_frame" value="lidar"/>
   <let name="compressed_image_topic" value="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
   <let name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>
   <let name="pointcloud_topic" value="/sensing/lidar/at128/aw_points"/>
   <let name="camera_frame" value="$(var camera_name)/camera_link"/>
 
-  <let name="rviz_profile" value=""/>
-  <let name="rviz_profile" value="$(find-pkg-share edge_auto_launch)/config/visualization/calibration_extrinsic_at128_camera0.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera0' &quot;)"/>
-  <let name="rviz_profile" value="$(find-pkg-share edge_auto_launch)/config/visualization/calibration_extrinsic_at128_camera1.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera1' &quot;)"/>
-
   <!-- driver -->
   <group>
     <push-ros-namespace namespace="/sensing/lidar/at128"/>
@@ -29,42 +24,28 @@
 
   <!-- calibrator -->
   <group>
-    <push-ros-namespace namespace="$(var lidar_frame)/$(var camera_frame)"/>
-    <!-- image_decompressor -->
-    <node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
-      <remap from="decompressor/input/compressed_image" to="$(var compressed_image_topic)"/>
-      <remap from="decompressor/output/raw_image" to="image_raw"/>
-    </node>
-    <!-- tag_based_calibrator -->
-    <include file="$(find-pkg-share edge_auto_launch)/launch/component/extrinsic_tag_based_calibrator.launch.xml">
-      <arg name="lidar_model" value="$(var lidar_model)"/>
-      <arg name="parent_frame" value="$(var lidar_frame)"/>
-      <arg name="child_frame" value="$(var camera_frame)"/>
-      <arg name="camera_info_topic" value="$(var camera_info_topic)"/>
-      <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/>
-      <arg name="image_topic" value="image_raw"/>
-    </include>
-    <!-- interactive -->
-    <node pkg="extrinsic_interactive_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen">
-      <remap from="pointcloud" to="$(var pointcloud_topic)"/>
-      <remap from="image" to="$(var compressed_image_topic)"/>
-      <remap from="camera_info" to="$(var camera_info_topic)"/>
-      <remap from="calibration_points_input" to="calibration_points"/>
-      <param name="camera_parent_frame" value="$(var lidar_frame)"/>
-      <param name="camera_frame" value="$(var camera_frame)"/>
-      <param name="use_calibration_api" value="false"/>
-      <param name="can_publish_tf" value="false"/>
-    </node>
-    <include file="$(find-pkg-share intrinsic_camera_calibration)/launch/optimizer.launch.xml"/>
+    <node pkg="sensor_calibration_manager" exec="sensor_calibration_manager" name="sensor_calibration_manager"/>
+    <node pkg="topic_tools" exec="relay" name="pointcloud_relay" args="$(var pointcloud_topic) /aw_points"/>
   </group>
 
   <!-- comment: this tf broadcast should be done elsewhere-->
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id base_link --child-frame-id lidar" />
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id camera0/camera_link --child-frame-id camera0/camera_optical_link" />
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id camera1/camera_link --child-frame-id camera1/camera_optical_link" />
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id lidar --child-frame-id camera0/camera_link" />
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id lidar --child-frame-id camera1/camera_link" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id base_link --child-frame-id lidar">
+    <param name="use_sim_time" value="true"/>
+  </node>
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id camera0/camera_link --child-frame-id camera0/camera_optical_link">
+    <param name="use_sim_time" value="true"/>
+  </node>
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id camera1/camera_link --child-frame-id camera1/camera_optical_link">
+    <param name="use_sim_time" value="true"/>
+  </node>
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id base_link --child-frame-id camera0/camera_link">
+    <param name="use_sim_time" value="true"/>
+  </node>
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id base_link --child-frame-id camera1/camera_link">
+    <param name="use_sim_time" value="true"/>
+  </node>
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id base_link --child-frame-id lidar">
+    <param name="use_sim_time" value="true"/>
+  </node>
 
-  <!-- visualization -->
-  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_profile)"/>
 </launch>
diff --git a/edge_auto_launch/launch/calibration_extrinsic_xt32_sample.launch.xml b/edge_auto_launch/launch/calibration_extrinsic_xt32_sample.launch.xml
index 1a9db0b..58da251 100755
--- a/edge_auto_launch/launch/calibration_extrinsic_xt32_sample.launch.xml
+++ b/edge_auto_launch/launch/calibration_extrinsic_xt32_sample.launch.xml
@@ -5,17 +5,12 @@
   <arg name="live_sensor" default="True"/>
 
   <!-- variables -->
-  <let name="lidar_model" value="pandar_xt32"/>
   <let name="lidar_frame" value="lidar"/>
   <let name="compressed_image_topic" value="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
   <let name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>
   <let name="pointcloud_topic" value="/sensing/lidar/xt32/aw_points"/>
   <let name="camera_frame" value="$(var camera_name)/camera_link"/>
 
-  <let name="rviz_profile" value=""/>
-  <let name="rviz_profile" value="$(find-pkg-share edge_auto_launch)/config/visualization/calibration_extrinsic_at128_camera0.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera0' &quot;)"/>
-  <let name="rviz_profile" value="$(find-pkg-share edge_auto_launch)/config/visualization/calibration_extrinsic_at128_camera1.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera1' &quot;)"/>
-
   <!-- driver -->
   <group>
     <push-ros-namespace namespace="/sensing/lidar/xt32"/>
@@ -27,42 +22,28 @@
 
   <!-- calibrator -->
   <group>
-    <push-ros-namespace namespace="$(var lidar_frame)/$(var camera_frame)"/>
-    <!-- image_decompressor -->
-    <node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
-      <remap from="decompressor/input/compressed_image" to="$(var compressed_image_topic)"/>
-      <remap from="decompressor/output/raw_image" to="image_raw"/>
-    </node>
-    <!-- tag_based_calibrator -->
-    <include file="$(find-pkg-share edge_auto_launch)/launch/component/extrinsic_tag_based_calibrator.launch.xml">
-      <arg name="lidar_model" value="$(var lidar_model)"/>
-      <arg name="parent_frame" value="$(var lidar_frame)"/>
-      <arg name="child_frame" value="$(var camera_frame)"/>
-      <arg name="camera_info_topic" value="$(var camera_info_topic)"/>
-      <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/>
-      <arg name="image_topic" value="image_raw"/>
-    </include>
-    <!-- interactive_calibrator -->
-    <node pkg="extrinsic_interactive_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen">
-      <remap from="pointcloud" to="$(var pointcloud_topic)"/>
-      <remap from="image" to="$(var compressed_image_topic)"/>
-      <remap from="camera_info" to="$(var camera_info_topic)"/>
-      <remap from="calibration_points_input" to="calibration_points"/>
-      <param name="camera_parent_frame" value="$(var lidar_frame)"/>
-      <param name="camera_frame" value="$(var camera_frame)"/>
-      <param name="use_calibration_api" value="false"/>
-      <param name="can_publish_tf" value="false"/>
-    </node>
-    <include file="$(find-pkg-share intrinsic_camera_calibration)/launch/optimizer.launch.xml"/>
+    <node pkg="sensor_calibration_manager" exec="sensor_calibration_manager" name="sensor_calibration_manager"/>
+    <node pkg="topic_tools" exec="relay" name="pointcloud_relay" args="$(var pointcloud_topic) /aw_points"/>
   </group>
 
   <!-- comment: this tf broadcast should be done elsewhere-->
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id base_link --child-frame-id lidar" />
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id camera0/camera_link --child-frame-id camera0/camera_optical_link" />
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id camera1/camera_link --child-frame-id camera1/camera_optical_link" />
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id lidar --child-frame-id camera0/camera_link" />
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id lidar --child-frame-id camera1/camera_link" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id base_link --child-frame-id lidar">
+    <!-- <param name="use_sim_time" value="true"/> -->
+  </node>
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id camera0/camera_link --child-frame-id camera0/camera_optical_link">
+    <!-- <param name="use_sim_time" value="true"/> -->
+  </node>
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id camera1/camera_link --child-frame-id camera1/camera_optical_link">
+    <!-- <param name="use_sim_time" value="true"/> -->
+  </node>
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id base_link --child-frame-id camera0/camera_link">
+    <!-- <param name="use_sim_time" value="true"/> -->
+  </node>
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id base_link --child-frame-id camera1/camera_link">
+    <!-- <param name="use_sim_time" value="true"/> -->
+  </node>
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id base_link --child-frame-id lidar">
+    <!-- <param name="use_sim_time" value="true"/> -->
+  </node>
 
-  <!-- visualization -->
-  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_profile)"/>
 </launch>
diff --git a/edge_auto_launch/launch/component/extrinsic_manual_calibrator.launch.xml b/edge_auto_launch/launch/component/extrinsic_manual_calibrator.launch.xml
deleted file mode 100644
index 6f95ae0..0000000
--- a/edge_auto_launch/launch/component/extrinsic_manual_calibrator.launch.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<launch>
-  <arg name="parent_frame" default="base_link"/>
-  <arg name="child_frame" default="camera0/camera_optical_link"/>
-
-  <!-- extrinsic_calibration_client -->
-  <arg name="src_yaml" default="$(find-pkg-share edge_auto_launch)/config/sample_calibration.yaml"/>
-  <arg name="dst_yaml" default="$(env HOME)/calibration.yaml"/>
-
-  <node pkg="extrinsic_calibration_client" exec="extrinsic_calibration_client" name="extrinsic_calibration_client" output="screen">
-    <param name="src_path" value="$(var src_yaml)"/>
-    <param name="dst_path" value="$(var dst_yaml)"/>
-  </node>
-
-  <!-- extrinsic_calibration_manager -->
-  <node pkg="extrinsic_calibration_manager" exec="extrinsic_calibration_manager" name="extrinsic_calibration_manager" output="screen">
-    <param name="parent_frame" value="$(var parent_frame)"/>
-    <param name="child_frames" value="[$(var child_frame)]"/>
-  </node>
-
-  <!-- extrinsic_manual_calibrator -->
-  <group>
-    <push-ros-namespace namespace="$(var parent_frame)/$(var child_frame)" />
-    <node pkg="extrinsic_manual_calibrator" exec="extrinsic_manual_calibrator" name="extrinsic_manual_calibrator" output="screen"/>
-    <node pkg="tunable_static_tf_broadcaster" exec="tunable_static_tf_broadcaster_node" name="tf_broadcaster" output="screen">
-      <param name="header_frame" value="$(var parent_frame)"/>
-      <param name="child_frame" value="$(var child_frame)"/>
-    </node>
-  </group>
-
-  <node pkg="rqt_reconfigure" exec="rqt_reconfigure" name="rqt_reconfigure" output="screen"/>
-</launch>
diff --git a/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml b/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml
index f63b2c5..ce1fe72 100755
--- a/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml
+++ b/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml
@@ -23,6 +23,7 @@
     <node_container pkg="rclcpp_components" exec="component_container" name="nebula_xt32_node" namespace="/">
       <composable_node pkg="nebula_ros" plugin="HesaiDriverRosWrapper" name="hesai_driver_roswrapper_node" namespace="$(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/lidar_camera_tf_publisher.launch.py b/edge_auto_launch/launch/component/lidar_camera_tf_publisher.launch.py
index a0e659a..477f748 100644
--- a/edge_auto_launch/launch/component/lidar_camera_tf_publisher.launch.py
+++ b/edge_auto_launch/launch/component/lidar_camera_tf_publisher.launch.py
@@ -19,17 +19,59 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 import json
+import yaml
+import re
+from pathlib import Path
+import transforms3d
+
+def parse_yaml(contents: dict):
+    get_first_key = lambda d: list(d.keys())[0]
+    frame_id = get_first_key(contents)
+    child_frame_id = get_first_key(contents[frame_id])
+
+    x = contents[frame_id][child_frame_id]['x']
+    y = contents[frame_id][child_frame_id]['y']
+    z = contents[frame_id][child_frame_id]['z']
+    roll = contents[frame_id][child_frame_id]['roll']
+    pitch = contents[frame_id][child_frame_id]['pitch']
+    yaw = contents[frame_id][child_frame_id]['yaw']
+
+    q_wxyz = transforms3d.euler.euler2quat(roll, pitch, yaw)  # output format is wxyz
+
+    # pack contents into a similar format as json one
+    return {
+        'header': {'frame_id': frame_id},
+        'child_frame_id': child_frame_id,
+        'transform': {
+            'translation': {'x': x, 'y': y, 'z': z},
+            'rotation': {'w': q_wxyz[0], 'x': q_wxyz[1], 'y': q_wxyz[2], 'z': q_wxyz[3]}
+        }
+    }
 
 
 def launch_setup(context, *args, **kwargs):
     """Return Launch Configuration for the TF between the lidar and the camera."""
     tf_file = LaunchConfiguration('tf_file_path').perform(context)
-    with open(tf_file, 'r') as f:
-        tf_data = json.load(f)
+    file_format = Path(tf_file).suffix.lstrip('.')
+
+    '''
+    Here assumes json/yaml format generated by CalibrationTools
+    '''
+    if file_format == 'json':
+        with open(tf_file, 'r') as f:
+            tf_data = json.load(f)
+    elif file_format == 'yaml' or file_format == 'yml':
+        with open(tf_file, 'r') as f:
+            yaml_contents = yaml.safe_load(f)
+            tf_data = parse_yaml(yaml_contents)
+    else:
+        print(f'Invalid TF file ({tf_file}) was specified.')
+
+    camera_id = re.findall(r'\d+', str(tf_data['child_frame_id']))[0]
 
     return [
         Node(
-            name="lidar_camera_tf_publisher",
+            name=f'lidar_camera_tf_publisher{camera_id}',
             package='tf2_ros',
             executable='static_transform_publisher',
             arguments=[
@@ -44,7 +86,7 @@ def launch_setup(context, *args, **kwargs):
                 '--child-frame-id', str(tf_data['child_frame_id'])
             ]),
         Node(
-            name="camera_optical_link_publisher",
+            name=f'camera_optical_link_publisher{camera_id}',
             package='tf2_ros',
             executable='static_transform_publisher',
             arguments=[
@@ -61,7 +103,6 @@ def launch_setup(context, *args, **kwargs):
             ])
     ]
 
-
 def generate_launch_description():
     return LaunchDescription(
         [
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"/>
diff --git a/edge_auto_launch/package.xml b/edge_auto_launch/package.xml
index 5bdc229..a07c61b 100644
--- a/edge_auto_launch/package.xml
+++ b/edge_auto_launch/package.xml
@@ -12,10 +12,9 @@
 
   <exec_depend>autoware_perception_rviz_plugin</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
-  <exec_depend>detected_object_feature_remover</exec_depend>
-  <exec_depend>euclidean_cluster</exec_depend>
-  <exec_depend>extrinsic_calibration_manager</exec_depend>
-  <exec_depend>extrinsic_manual_calibrator</exec_depend>
+  <exec_depend>autoware_detected_object_feature_remover</exec_depend>
+  <exec_depend>autoware_euclidean_cluster</exec_depend>
+  <exec_depend>sensor_calibration_manager</exec_depend>
   <exec_depend>tag_based_pnp_calibrator</exec_depend>
   <exec_depend>autoware_ground_segmentation</exec_depend>
   <exec_depend>intrinsic_camera_calibrator</exec_depend>
@@ -27,7 +26,9 @@
   <exec_depend>autoware_image_transport_decompressor</exec_depend>
   <exec_depend>individual_params</exec_depend>
   <exec_depend>autoware_image_projection_based_fusion</exec_depend>
-  <exec_depend>sensor_calibration_tools</exec_depend>
+  <!-- <exec_depend>sensor_calibration_tools</exec_depend> -->
+  <exec_depend>image_transport_plugins</exec_depend>
+  <exec_depend>topic_tools</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>