diff --git a/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml b/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml
deleted file mode 100644
index 03d969ba5184f..0000000000000
--- a/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-/**:
-  ros__parameters:
-    min_x: -60.0
-    max_x: 60.0
-    min_y: -60.0
-    max_y: 60.0
-    min_z: -30.0
-    max_z: 50.0
-    negative: False
diff --git a/localization_launch/config/default/voxel_grid_filter.param.yaml b/localization_launch/config/default/voxel_grid_filter.param.yaml
deleted file mode 100644
index 51a7ee9d89b6b..0000000000000
--- a/localization_launch/config/default/voxel_grid_filter.param.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-/**:
-  ros__parameters:
-    voxel_size_x: 3.0
-    voxel_size_y: 3.0
-    voxel_size_z: 3.0
diff --git a/localization_launch/config/default/ndt_scan_matcher.param.yaml b/localization_launch/config/ndt_scan_matcher.param.yaml
similarity index 100%
rename from localization_launch/config/default/ndt_scan_matcher.param.yaml
rename to localization_launch/config/ndt_scan_matcher.param.yaml
diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
index 6eb082bbe438c..c3f35464e4b2f 100644
--- a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
+++ b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="environment_name" default="$(env ENVIRONMENT_NAME default)" />
 
   <include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
     <arg name="input_map_points_topic" value="/map/pointcloud_map"/>
@@ -12,7 +11,7 @@
     <arg name="output_pose_with_covariance_topic" value="/localization/pose_estimator/pose_with_covariance"/>
     <arg name="output_diagnostics_topic" value="/localization/diagnostics"/>
 
-    <arg name="param_file" value="$(find-pkg-share localization_launch)/config/$(var environment_name)/ndt_scan_matcher.param.yaml" />
+    <arg name="param_file" value="$(find-pkg-share localization_launch)/config/ndt_scan_matcher.param.yaml" />
   </include>
 
 </launch>
diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml
index 79ae340ed126b..6d2cc29549aa6 100644
--- a/localization_launch/launch/util/util.launch.xml
+++ b/localization_launch/launch/util/util.launch.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="environment_name" default="$(env ENVIRONMENT_NAME default)" />
 
   <!-- Topics -->
   <arg name="input_sensor_points_topic" default="/sensing/lidar/top/rectified/pointcloud" description="input topic name for raw pointcloud"/>