diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
index d5c6356c38..f7548536be 100644
--- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
+++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -7,7 +7,8 @@
     use_predicted_object_data: false
     use_object_velocity_calculation: true
     check_autoware_state: true
-    min_generated_path_length: 0.5
+    min_generated_imu_path_length: 0.5
+    max_generated_imu_path_length: 10.0
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
     mpc_prediction_time_horizon: 4.5
@@ -27,6 +28,7 @@
     # Point cloud cropping
     expand_width: 0.1
     path_footprint_extra_margin: 4.0
+    speed_calculation_expansion_margin: 0.5
 
     # Point cloud clustering
     cluster_tolerance: 0.15 #[m]
diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml
index 90ec78257e..80e0b4aac1 100644
--- a/autoware_launch/config/localization/pose_initializer.param.yaml
+++ b/autoware_launch/config/localization/pose_initializer.param.yaml
@@ -6,6 +6,8 @@
 
     gnss_pose_timeout: 3.0 # [sec]
     stop_check_duration: 3.0 # [sec]
+    pose_error_threshold: 5.0 # [m]
+    pose_error_check_enabled: false
     ekf_enabled: $(var ekf_enabled)
     gnss_enabled: $(var gnss_enabled)
     yabloc_enabled: $(var yabloc_enabled)
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
index 26b027f007..15f03fb959 100644
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
@@ -15,3 +15,4 @@
     min_y: -200.0
     max_z: 2.0
     min_z: -10.0
+    negative: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
index 384ef7bd28..f6974e38a2 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
@@ -7,7 +7,6 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          execute_num: 2                               # [-]
           th_moving_speed: 1.0                         # [m/s]
           th_moving_time: 1.0                          # [s]
           max_expand_ratio: 0.0                        # [-]
@@ -17,7 +16,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         truck:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -27,7 +25,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         bus:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -37,7 +34,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         trailer:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -47,7 +43,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         unknown:
-          execute_num: 1
           th_moving_speed: 0.28                        # 1.0km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -57,7 +52,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         bicycle:
-          execute_num: 2
           th_moving_speed: 0.28                        # 1.0km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -67,7 +61,6 @@
             hard_margin: 1.0                           # [m]
             hard_margin_for_parked_vehicle: 1.0        # [m]
         motorcycle:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -77,7 +70,6 @@
             hard_margin: 1.0                           # [m]
             hard_margin_for_parked_vehicle: 1.0        # [m]
         pedestrian:
-          execute_num: 2
           th_moving_speed: 0.28                        # 1.0km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index b8a772f0b5..41f8f53a8f 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -24,5 +24,3 @@
     enable_cog_on_centerline: false
     input_path_interval: 2.0
     output_path_interval: 2.0
-
-    visualize_maximum_drivable_area: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 0cea2aa62b..eaa2058819 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -34,6 +34,7 @@
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
+        enable_target_lane_bound_check: true
         collision_check_yaw_diff_threshold: 3.1416
         execution:
           expected_front_deceleration: -1.0
diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
deleted file mode 100644
index 652a984ce5..0000000000
--- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
+++ /dev/null
@@ -1,14 +0,0 @@
-# Default configuration for emergency handler
----
-/**:
-  ros__parameters:
-    update_rate: 10
-    timeout_hazard_status: 0.5
-    timeout_takeover_request: 10.0
-    use_takeover_request: false
-    use_parking_after_stopped: false
-    use_comfortable_stop: false
-
-    # setting whether to turn hazard lamp on for each situation
-    turning_hazard_on:
-      emergency: true
diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
deleted file mode 100644
index 27cbe3fed2..0000000000
--- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-/**:
-  ros__parameters:
-    system:
-      type: diagnostic_aggregator/AnalyzerGroup
-      path: system
-      analyzers:
-        debug_data_logger:
-          type: diagnostic_aggregator/AnalyzerGroup
-          path: debug_data_logger
-          analyzers:
-            storage_error:
-              type: diagnostic_aggregator/GenericAnalyzer
-              path: storage_error
-              contains: ["bagpacker"]
-              timeout: 3.0
diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml
deleted file mode 100644
index e96e3b3b05..0000000000
--- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-/**:
-  ros__parameters:
-    vehicle:
-      type: diagnostic_aggregator/AnalyzerGroup
-      path: vehicle
-      analyzers:
-        vehicle_errors:
-          type: diagnostic_aggregator/GenericAnalyzer
-          path: vehicle_errors
-          contains: [": vehicle_errors"]
-          timeout: 1.0
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
deleted file mode 100644
index 9710e1a1e4..0000000000
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
+++ /dev/null
@@ -1,55 +0,0 @@
-# Description:
-#   name: diag name
-#   sf_at: diag level where it becomes Safe Fault
-#   lf_at: diag level where it becomes Latent Fault
-#   spf_at: diag level where it becomes Single Point Fault
-#   auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
-#
-# Note:
-# empty-value for sf_at, lf_at and spf_at is "none"
-# default values are:
-#   sf_at: "none"
-#   lf_at: "warn"
-#   spf_at: "error"
-#   auto_recovery: "true"
----
-/**:
-  ros__parameters:
-    required_modules:
-      autonomous_driving:
-        /autoware/control/autonomous_driving/node_alive_monitoring: default
-        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-
-        /autoware/localization/node_alive_monitoring: default
-        /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_stability: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
-        /autoware/map/node_alive_monitoring: default
-
-        /autoware/perception/node_alive_monitoring: default
-
-        /autoware/planning/node_alive_monitoring: default
-        /autoware/planning/performance_monitoring/trajectory_validation: default
-
-        # /autoware/sensing/node_alive_monitoring: default
-        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
-        /autoware/vehicle/node_alive_monitoring: default
-
-      external_control:
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
-        /autoware/vehicle/node_alive_monitoring: default
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
deleted file mode 100644
index c1821a05ab..0000000000
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ /dev/null
@@ -1,56 +0,0 @@
-# Description:
-#   name: diag name
-#   sf_at: diag level where it becomes Safe Fault
-#   lf_at: diag level where it becomes Latent Fault
-#   spf_at: diag level where it becomes Single Point Fault
-#   auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
-#
-# Note:
-# empty-value for sf_at, lf_at and spf_at is "none"
-# default values are:
-#   sf_at: "none"
-#   lf_at: "warn"
-#   spf_at: "error"
-#   auto_recovery: "true"
----
-/**:
-  ros__parameters:
-    required_modules:
-      autonomous_driving:
-        /autoware/control/autonomous_driving/node_alive_monitoring: default
-        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-
-        /autoware/localization/node_alive_monitoring: default
-        /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_error_ellipse: default
-        /autoware/localization/performance_monitoring/localization_stability: default
-        /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" }
-
-        /autoware/map/node_alive_monitoring: default
-
-        /autoware/perception/node_alive_monitoring: default
-
-        /autoware/planning/node_alive_monitoring: default
-        /autoware/planning/performance_monitoring/trajectory_validation: default
-
-        # /autoware/sensing/node_alive_monitoring: default
-        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
-        /autoware/system/duplicated_node_checker: default
-
-        /autoware/vehicle/node_alive_monitoring: default
-
-      external_control:
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
-        /autoware/vehicle/node_alive_monitoring: default
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
deleted file mode 100644
index 8b76c48ac7..0000000000
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
+++ /dev/null
@@ -1,54 +0,0 @@
-# Description:
-#   name: diag name
-#   sf_at: diag level where it becomes Safe Fault
-#   lf_at: diag level where it becomes Latent Fault
-#   spf_at: diag level where it becomes Single Point Fault
-#   auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
-#
-# Note:
-# empty-value for sf_at, lf_at and spf_at is "none"
-# default values are:
-#   sf_at: "none"
-#   lf_at: "warn"
-#   spf_at: "error"
-#   auto_recovery: "true"
----
-/**:
-  ros__parameters:
-    required_modules:
-      autonomous_driving:
-        /autoware/control/autonomous_driving/node_alive_monitoring: default
-        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
-        /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-
-        /autoware/localization/node_alive_monitoring: default
-        # /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        # /autoware/localization/performance_monitoring/localization_error_ellipse: default
-        # /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false", ignore_until_waiting_for_route: "true"}
-        /autoware/map/node_alive_monitoring: default
-
-        /autoware/perception/node_alive_monitoring: default
-
-        /autoware/planning/node_alive_monitoring: default
-        /autoware/planning/performance_monitoring/trajectory_validation: default
-
-        # /autoware/sensing/node_alive_monitoring: default
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
-        /autoware/system/duplicated_node_checker: default
-
-        /autoware/vehicle/node_alive_monitoring: default
-
-      external_control:
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-
-        /autoware/vehicle/node_alive_monitoring: default
diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
index d72b8d1334..5d5c1bd7bd 100644
--- a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
+++ b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
@@ -1,7 +1,6 @@
 /**:
   ros__parameters:
       devices: ["*"]
-      traffic_reader_port: 7636
       monitor_program: "greengrass"
       crc_error_check_duration: 1
       crc_error_count_threshold: 1
diff --git a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml
index db54f70d1c..c731865c9e 100644
--- a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml
+++ b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml
@@ -3,3 +3,4 @@
     server: ntp.nict.jp
     offset_warn: 0.1
     offset_error: 5.0
+    timeout: 5
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index f5bd2be038..d3f56eb249 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -36,7 +36,6 @@
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <arg name="system_error_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
   <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml" description="diagnostic graph config"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 052b4a6429..105b49a2d9 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -20,6 +20,7 @@
   <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- Options to Switch Launch Function/Module -->
@@ -48,7 +49,7 @@
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
     <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="traffic_light_recognition/fusion_only" value="false"/>
-    <arg name="traffic_light_image_number" value="2"/>
+    <arg name="all_traffic_light_camera" value="$(var all_traffic_light_camera)"/>
 
     <!-- object recognition parameters -->
     <arg
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index d17925549b..fa5056b9d9 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="system_error_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
   <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
   <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
 
@@ -11,15 +10,10 @@
     <arg name="sensor_model" value="$(var sensor_model)"/>
 
     <arg name="component_state_monitor_topic_path" value="$(find-pkg-share autoware_launch)/config/system/component_state_monitor/topics.yaml"/>
-    <arg name="emergency_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/emergency_handler/emergency_handler.param.yaml"/>
     <arg name="duplicated_node_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml"/>
     <arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
     <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
-    <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
-    <arg name="system_error_monitor_planning_simulator_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml"/>
-    <arg name="diagnostic_aggregator_vehicle_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml"/>
-    <arg name="diagnostic_aggregator_system_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml"/>
     <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml"/>
     <arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
     <arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
@@ -30,7 +24,6 @@
     <arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
     <arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>
 
-    <arg name="use_emergency_handler" value="false"/>
     <arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
     <arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
     <arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 347e3c977c..e2fb69ca56 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -25,18 +25,13 @@
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- Perception -->
-  <arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/>
+  <arg name="traffic_light_namespace" default="[traffic_light]" description="traffic light recognition namespace"/>
   <!-- Control -->
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <arg
-    name="system_error_monitor_param_path"
-    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
-    description="system error monitor param path"
-  />
   <!-- Sensing -->
   <arg name="launch_sensing_driver" default="false"/>
   <!-- Tools -->
@@ -73,13 +68,12 @@
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
       <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
       <!-- Perception-->
       <arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
-      <arg name="namespace1" value="$(var traffic_light_namespace)"/>
+      <arg name="all_traffic_light_camera" value="$(var traffic_light_namespace)"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index c50f13e67f..e4eb0b6e16 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -520,39 +520,26 @@ Visualization Manager:
               Topic:
                 Depth: 5
                 Durability Policy: Volatile
-                Filter size: 10
                 History Policy: Keep Last
                 Reliability Policy: Reliable
                 Value: /localization/pose_estimator/pose_with_covariance
-              Value: false
+              Value: true
             - Buffer Size: 200
-              Class: rviz_plugins::PoseWithCovarianceHistory
-              Covariance:
-                Alpha: 0.5
-                Color: 204; 51; 204
-                Scale: 1
-                Value: true
+              Class: rviz_plugins::PoseHistory
               Enabled: false
-              Name: PoseWithCovarianceHistory
-              Path:
-                Shape Type:
-                  Alpha: 0.999
-                  Color: 170; 255; 127
-                  Head Length: 0.20000
-                  Head diameter: 0.30000
-                  Shaft Length: 0.30000
-                  Shaft diameter: 0.15000
-                  Value: Line
-                  Width: 0.10000
+              Line:
+                Color: 170; 255; 127
                 Value: true
+                Width: 0.10000000149011612
+                Alpha: 0.999
+              Name: PoseHistory
               Topic:
                 Depth: 5
                 Durability Policy: Volatile
-                Filter size: 10
                 History Policy: Keep Last
                 Reliability Policy: Reliable
-                Value: /localization/pose_estimator/pose_with_covariance
-              Value: false
+                Value: /localization/pose_estimator/pose
+              Value: true
             - Alpha: 0.999
               Autocompute Intensity Bounds: true
               Autocompute Value Bounds:
@@ -635,32 +622,20 @@ Visualization Manager:
         - Class: rviz_common/Group
           Displays:
             - Buffer Size: 1000
-              Class: rviz_plugins::PoseWithCovarianceHistory
-              Covariance:
-                Alpha: 0.5
-                Color: 153; 193; 241
-                Scale: 1
-                Value: false
+              Class: rviz_plugins::PoseHistory
               Enabled: true
-              Name: PoseWithCovarianceHistory
-              Path:
-                Shape Type:
-                  Alpha: 0.999
-                  Color: 0; 255; 255
-                  Head Length: 0.20000
-                  Head diameter: 0.300000
-                  Shaft Length: 0.30000
-                  Shaft diameter: 0.15000
-                  Value: Line
-                  Width: 0.10000
+              Line:
+                Color: 0; 255; 255
                 Value: true
+                Width: 0.10000000149011612
+                Alpha: 0.999
+              Name: PoseHistory
               Topic:
                 Depth: 5
                 Durability Policy: Volatile
-                Filter size: 10
                 History Policy: Keep Last
                 Reliability Policy: Reliable
-                Value: /localization/pose_with_covariance
+                Value: /localization/pose_twist_fusion_filter/pose
               Value: true
           Enabled: true
           Name: EKF