diff --git a/docs/design/autoware-interfaces/components/images/Localization-Bus-ODD-Architecture.drawio.svg b/docs/design/autoware-interfaces/components/images/Localization-Bus-ODD-Architecture.drawio.svg
index bc9852607fc..9546b025098 100644
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+++ b/docs/design/autoware-interfaces/components/images/Localization-Bus-ODD-Architecture.drawio.svg
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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: 198px; height: 1px; padding-top: 636px; margin-left: 536px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 14px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Trajectory</div></div></div></foreignObject><text x="635" y="640" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="14px" text-anchor="middle">Trajectory</text></switch></g><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; 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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: 180px; height: 1px; padding-top: 396px; margin-left: 560px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 14px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Vehicle Kinematic State</div></div></div></foreignObject><text x="650" y="400" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="14px" text-anchor="middle">Vehicle Kinematic State</text></switch></g><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: 449px; margin-left: 650px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><div style="font-size: 12px;">geometry_msgs::msg::</div><div style="font-size: 12px;">Odometry<br style="font-size: 12px;" /></div></div></div></div></foreignObject><text x="650" y="453" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">geometry_msgs::msg::...</text></switch></g><path d="M 420 581 Q 420 581 420 610.9" fill="none" stroke="#00cccc" stroke-width="3" stroke-miterlimit="10" pointer-events="none"/><path d="M 420 617.65 L 415.5 608.65 L 420 610.9 L 424.5 608.65 Z" fill="#00cccc" stroke="#00cccc" stroke-width="3" stroke-miterlimit="10" pointer-events="none"/><rect x="340" y="541" width="160" height="40" rx="6" ry="6" fill="#99ffff" stroke="#00cccc" stroke-width="3" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; 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diff --git a/docs/design/autoware-interfaces/components/localization.md b/docs/design/autoware-interfaces/components/localization.md
index c4cb9341366..6f2ecce57ac 100644
--- a/docs/design/autoware-interfaces/components/localization.md
+++ b/docs/design/autoware-interfaces/components/localization.md
@@ -14,7 +14,7 @@ Environment map created with point cloud, Published by the Map Server.
 
 Start pose of ego, Published by the User Interface.
 
-- geometry_msgs::msg::PoseCovarianceStamped
+- geometry_msgs::msg::PoseWithCovarianceStamped
 
 ### 3D-LiDAR Scanning