diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index eab2a56607dee..7f2fc45396f7f 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -11,13 +11,12 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="score_threshold" default="0.35"/>
 
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
+  <arg name="use_roi_based_cluster" default="false"/>
 
   <!-- Camera param -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -59,15 +58,16 @@
     <arg name="image_number" value="$(var image_number)"/>
   </include> -->
 
-  <!-- Pointcloud map filter -->
+  <!-- Pointcloud filter -->
   <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
 
@@ -75,19 +75,18 @@
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
-      <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-      <let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
+      <let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
+      <let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
-        <arg name="output_clusters" value="euclidean_cluster/clusters"/>
-        <arg name="use_pointcloud_map" value="false"/>
-        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
+        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+        <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
+        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       </include>
     </group>
 
     <!-- roi based clustering -->
     <group>
-      <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml">
+      <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
         <arg name="input/camera_info0" value="$(var camera_info0)"/>
         <arg name="input/rois0" value="$(var detection_rois0)"/>
         <arg name="input/camera_info1" value="$(var camera_info1)"/>
@@ -120,7 +119,7 @@
 
     <!-- simple_cluster_merger -->
     <group>
-      <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml">
+      <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
         <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
         <arg name="input/cluster1" value="roi_cluster/clusters"/>
         <arg name="output/clusters" value="clusters"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 463340efdecfe..2bd007b658978 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -11,8 +11,6 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="score_threshold" default="0.35"/>
 
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
@@ -78,15 +76,16 @@
     </include>
   </group>
 
-  <!-- Pointcloud map filter -->
+  <!-- Pointcloud filter -->
   <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
 
@@ -94,13 +93,12 @@
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
-      <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-      <let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
+      <let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
+      <let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
-        <arg name="output_clusters" value="clusters"/>
-        <arg name="use_pointcloud_map" value="false"/>
-        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
+        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+        <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
+        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       </include>
     </group>
 
@@ -151,7 +149,7 @@
 
       <!-- roi based clustering -->
       <group>
-        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml">
+        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
           <arg name="input/camera_info0" value="$(var camera_info0)"/>
           <arg name="input/rois0" value="$(var detection_rois0)"/>
           <arg name="input/camera_info1" value="$(var camera_info1)"/>
@@ -184,7 +182,7 @@
 
       <!-- simple_cluster_merger -->
       <group>
-        <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml">
+        <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
           <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
           <arg name="input/cluster1" value="roi_cluster/clusters"/>
           <arg name="output/clusters" value="clusters"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index ca5d1d0f7e8bb..ab55047132482 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -5,7 +5,6 @@
   <!-- lidar param -->
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
@@ -65,6 +64,8 @@
       <arg name="remove_unknown" value="$(var remove_unknown)"/>
       <arg name="trust_distance" value="$(var trust_distance)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
     </include>
   </group>
 
@@ -94,6 +95,8 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
     </include>
   </group>
 
@@ -107,6 +110,7 @@
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     </include>
   </group>
 
@@ -119,6 +123,7 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     </include>
   </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 5b6134dc45584..ccc236d9cdc94 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -4,8 +4,6 @@
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="output/objects" default="objects"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
@@ -19,29 +17,27 @@
   <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
 
-  <!-- Pointcloud map filter -->
+  <!-- Pointcloud filter -->
   <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
 
   <!-- Clustering -->
   <group>
     <push-ros-namespace namespace="clustering"/>
-    <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
     <group>
       <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
+        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="clusters"/>
-        <arg name="use_pointcloud_map" value="false"/>
-        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
+        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       </include>
     </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
index a47e6a86f1c7b..4756fc9338e46 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -3,7 +3,6 @@
   <!-- lidar param -->
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
@@ -19,6 +18,7 @@
       <arg name="output/objects" value="lidar/objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
index a5d8d2113d2db..93d395ca3e466 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
@@ -35,7 +35,6 @@ def __init__(self, context):
         )
         with open(pointcloud_map_filter_param_path, "r") as f:
             self.pointcloud_map_filter_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-        self.use_down_sample_filter = self.pointcloud_map_filter_param["use_down_sample_filter"]
         self.voxel_size = self.pointcloud_map_filter_param["down_sample_voxel_size"]
         self.distance_threshold = self.pointcloud_map_filter_param["distance_threshold"]
         self.downsize_ratio_z_axis = self.pointcloud_map_filter_param["downsize_ratio_z_axis"]
@@ -46,47 +45,40 @@ def __init__(self, context):
         ]
         self.map_loader_radius = self.pointcloud_map_filter_param["map_loader_radius"]
         self.publish_debug_pcd = self.pointcloud_map_filter_param["publish_debug_pcd"]
+        self.use_pointcloud_map = LaunchConfiguration("use_pointcloud_map").perform(context)
 
     def create_pipeline(self):
-        if self.use_down_sample_filter:
-            return self.create_down_sample_pipeline()
+        if self.use_pointcloud_map == "true":
+            return self.create_compare_map_pipeline()
         else:
-            return self.create_normal_pipeline()
+            return self.create_no_compare_map_pipeline()
 
-    def create_normal_pipeline(self):
+    def create_no_compare_map_pipeline(self):
         components = []
         components.append(
             ComposableNode(
-                package="compare_map_segmentation",
-                plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
-                name="voxel_based_compare_map_filter",
+                package="pointcloud_preprocessor",
+                plugin="pointcloud_preprocessor::ApproximateDownsampleFilterComponent",
+                name="voxel_grid_downsample_filter",
                 remappings=[
                     ("input", LaunchConfiguration("input_topic")),
-                    ("map", "/map/pointcloud_map"),
                     ("output", LaunchConfiguration("output_topic")),
-                    ("map_loader_service", "/map/get_differential_pointcloud_map"),
-                    ("kinematic_state", "/localization/kinematic_state"),
                 ],
                 parameters=[
                     {
-                        "distance_threshold": self.distance_threshold,
-                        "downsize_ratio_z_axis": self.downsize_ratio_z_axis,
-                        "timer_interval_ms": self.timer_interval_ms,
-                        "use_dynamic_map_loading": self.use_dynamic_map_loading,
-                        "map_update_distance_threshold": self.map_update_distance_threshold,
-                        "map_loader_radius": self.map_loader_radius,
-                        "publish_debug_pcd": self.publish_debug_pcd,
-                        "input_frame": "map",
+                        "voxel_size_x": self.voxel_size,
+                        "voxel_size_y": self.voxel_size,
+                        "voxel_size_z": self.voxel_size,
                     }
                 ],
                 extra_arguments=[
-                    {"use_intra_process_comms": False},
+                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
                 ],
-            )
+            ),
         )
         return components
 
-    def create_down_sample_pipeline(self):
+    def create_compare_map_pipeline(self):
         components = []
         down_sample_topic = (
             "/perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud"
@@ -94,7 +86,7 @@ def create_down_sample_pipeline(self):
         components.append(
             ComposableNode(
                 package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
+                plugin="pointcloud_preprocessor::ApproximateDownsampleFilterComponent",
                 name="voxel_grid_downsample_filter",
                 remappings=[
                     ("input", LaunchConfiguration("input_topic")),
@@ -177,6 +169,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("container_name", "pointcloud_map_filter_pipeline_container")
+    add_launch_arg("use_pointcloud_map", "true")
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index c41177e51116b..a30b87a1068b5 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -1,10 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Parameter files -->
-  <arg name="object_recognition_detection_compare_map_param_path"/>
   <arg name="object_recognition_detection_euclidean_cluster_param_path"/>
   <arg name="object_recognition_detection_outlier_param_path"/>
-  <arg name="object_recognition_detection_voxel_grid_based_euclidean_param_path"/>
   <arg name="object_recognition_detection_object_lanelet_filter_param_path"/>
   <arg name="object_recognition_detection_object_position_filter_param_path"/>
   <arg name="object_recognition_detection_pointcloud_map_filter_param_path"/>
@@ -59,8 +57,9 @@
   <arg name="image_number" default="6" description="choose image raw number(1-8)"/>
   <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="false" description="use downsample pointcloud in perception"/>
+  <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="use_roi_based_cluster" default="true" description="use roi_based_cluster in clustering"/>
   <arg
     name="use_empty_dynamic_object_publisher"
     default="false"
@@ -156,18 +155,17 @@
           <arg name="image_number" value="$(var image_number)"/>
           <arg name="sync_param_path" value="$(var object_recognition_detection_fusion_sync_param_path)"/>
           <arg name="lidar_model_param_path" value="$(var object_recognition_detection_lidar_model_param_path)"/>
-          <arg name="compare_map_param_path" value="$(var object_recognition_detection_compare_map_param_path)"/>
           <arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
-          <arg name="voxel_grid_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-          <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
+          <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
           <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
           <arg name="container_name" value="$(var pointcloud_container_name)"/>
           <arg name="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="trust_distance" value="$(var trust_distance)"/>
+          <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
         </include>
       </group>
 
diff --git a/perception/euclidean_cluster/config/compare_map.param.yaml b/perception/euclidean_cluster/config/compare_map.param.yaml
deleted file mode 100644
index 3dd303464a2c1..0000000000000
--- a/perception/euclidean_cluster/config/compare_map.param.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-/**:
-  ros__parameters:
-
-    # distance threshold for compare compare
-    distance_threshold: 0.5
-
-    # publish voxelized map pointcloud for debug
-    publish_debug_pcd: False
-
-    # use dynamic map loading
-    use_dynamic_map_loading: True
-
-    # time interval to check dynamic map loading
-    timer_interval_ms: 100
-
-    # distance threshold for dynamic map update
-    map_update_distance_threshold: 10.0
-
-    # radius map for dynamic map loading
-    map_loader_radius: 150.0
diff --git a/perception/euclidean_cluster/config/outlier.param.yaml b/perception/euclidean_cluster/config/outlier.param.yaml
deleted file mode 100644
index 1962fba1f332a..0000000000000
--- a/perception/euclidean_cluster/config/outlier.param.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-/**:
-  ros__parameters:
-    input_frame: base_link
-    output_frame: base_link
-    voxel_size_x: 0.3
-    voxel_size_y: 0.3
-    voxel_size_z: 100.0
-    voxel_points_threshold: 3
diff --git a/perception/euclidean_cluster/config/voxel_grid.param.yaml b/perception/euclidean_cluster/config/voxel_grid.param.yaml
deleted file mode 100644
index 3ff32bfbb7146..0000000000000
--- a/perception/euclidean_cluster/config/voxel_grid.param.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-/**:
-  ros__parameters:
-    input_frame: base_link
-    output_frame: base_link
-    voxel_size_x: 0.15
-    voxel_size_y: 0.15
-    voxel_size_z: 0.15
diff --git a/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml b/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml
index 2f3de2b789eb3..26b027f0077aa 100644
--- a/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml
+++ b/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml
@@ -7,9 +7,11 @@
     max_cluster_size: 3000
     use_height: false
     input_frame: "base_link"
-    max_x: 70.0
-    min_x: -70.0
-    max_y: 70.0
-    min_y: -70.0
-    max_z: 4.5
-    min_z: -4.5
+
+    # low height crop box filter param
+    max_x: 200.0
+    min_x: -200.0
+    max_y: 200.0
+    min_y: -200.0
+    max_z: 2.0
+    min_z: -10.0
diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
index db86bbf80d250..66c25396a656e 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
@@ -35,61 +35,35 @@ def load_composable_node_param(param_path):
     ns = ""
     pkg = "euclidean_cluster"
 
-    # set voxel grid filter as a component
-    voxel_grid_filter_component = ComposableNode(
+    low_height_cropbox_filter_component = ComposableNode(
         package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
-        name=AnonName("voxel_grid_filter"),
+        namespace=ns,
+        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        name="low_height_crop_box_filter",
         remappings=[
             ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", "voxel_grid_filtered/pointcloud"),
-        ],
-        parameters=[load_composable_node_param("voxel_grid_param_path")],
-    )
-
-    # set compare map filter as a component
-    compare_map_filter_component = ComposableNode(
-        package="compare_map_segmentation",
-        plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
-        name=AnonName("compare_map_filter"),
-        remappings=[
-            ("input", "voxel_grid_filtered/pointcloud"),
-            ("map", LaunchConfiguration("input_map")),
-            ("output", "compare_map_filtered/pointcloud"),
-            ("map_loader_service", "/map/get_differential_pointcloud_map"),
-            ("kinematic_state", "/localization/kinematic_state"),
-        ],
-        parameters=[
-            {
-                "distance_threshold": 0.5,
-                "timer_interval_ms": 100,
-                "use_dynamic_map_loading": True,
-                "downsize_ratio_z_axis": 0.5,
-                "map_update_distance_threshold": 10.0,
-                "map_loader_radius": 150.0,
-                "publish_debug_pcd": True,
-                "input_frame": "map",
-            }
+            ("output", "low_height/pointcloud"),
         ],
+        parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
     )
 
-    use_map_euclidean_cluster_component = ComposableNode(
+    use_low_height_euclidean_component = ComposableNode(
         package=pkg,
         plugin="euclidean_cluster::EuclideanClusterNode",
         name=AnonName("euclidean_cluster"),
         remappings=[
-            ("input", "compare_map_filtered/pointcloud"),
+            ("input", "low_height/pointcloud"),
             ("output", LaunchConfiguration("output_clusters")),
         ],
         parameters=[load_composable_node_param("euclidean_param_path")],
     )
 
-    disuse_map_euclidean_cluster_component = ComposableNode(
+    disuse_low_height_euclidean_component = ComposableNode(
         package=pkg,
         plugin="euclidean_cluster::EuclideanClusterNode",
         name=AnonName("euclidean_cluster"),
         remappings=[
-            ("input", "voxel_grid_filtered/pointcloud"),
+            ("input", LaunchConfiguration("input_pointcloud")),
             ("output", LaunchConfiguration("output_clusters")),
         ],
         parameters=[load_composable_node_param("euclidean_param_path")],
@@ -100,26 +74,26 @@ def load_composable_node_param(param_path):
         namespace=ns,
         package="rclcpp_components",
         executable="component_container",
-        composable_node_descriptions=[voxel_grid_filter_component],
+        composable_node_descriptions=[],
         output="screen",
     )
 
-    use_map_loader = LoadComposableNodes(
+    use_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[
-            compare_map_filter_component,
-            use_map_euclidean_cluster_component,
+            low_height_cropbox_filter_component,
+            use_low_height_euclidean_component,
         ],
         target_container=container,
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_map")),
+        condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
-    disuse_map_loader = LoadComposableNodes(
-        composable_node_descriptions=[disuse_map_euclidean_cluster_component],
+    disuse_low_height_pointcloud_loader = LoadComposableNodes(
+        composable_node_descriptions=[disuse_low_height_euclidean_component],
         target_container=container,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_map")),
+        condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
-    return [container, use_map_loader, disuse_map_loader]
+    return [container, use_low_height_pointcloud_loader, disuse_low_height_pointcloud_loader]
 
 
 def generate_launch_description():
@@ -131,14 +105,7 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_pointcloud", "/perception/obstacle_segmentation/pointcloud"),
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
-            add_launch_arg("use_pointcloud_map", "false"),
-            add_launch_arg(
-                "voxel_grid_param_path",
-                [
-                    FindPackageShare("autoware_launch"),
-                    "/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml",
-                ],
-            ),
+            add_launch_arg("use_low_height_cropbox", "false"),
             add_launch_arg(
                 "euclidean_param_path",
                 [
diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
index 7159fb4c42793..fd1ea82befae0 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
@@ -3,16 +3,14 @@
   <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="input_map" default="/map/pointcloud_map"/>
   <arg name="output_clusters" default="clusters"/>
-  <arg name="use_pointcloud_map" default="false"/>
-  <arg name="voxel_grid_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid.param.yaml"/>
+  <arg name="use_low_height_cropbox" default="false"/>
   <arg name="euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/euclidean_cluster.param.yaml"/>
 
   <include file="$(find-pkg-share euclidean_cluster)/launch/euclidean_cluster.launch.py">
     <arg name="input_points_raw_list" value="$(var input_pointcloud)"/>
     <arg name="input_map" value="$(var input_map)"/>
     <arg name="output_clusters" value="$(var output_clusters)"/>
-    <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    <arg name="voxel_grid_param_path" value="$(var voxel_grid_param_path)"/>
+    <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     <arg name="euclidean_param_path" value="$(var euclidean_param_path)"/>
   </include>
 </launch>
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index 82ce5605b67cd..00bcd4422bd3c 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -16,10 +16,8 @@
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
 from launch.conditions import IfCondition
-from launch.substitutions import AndSubstitution
-from launch.substitutions import AnonName
+from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch.substitutions import NotSubstitution
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
@@ -36,159 +34,31 @@ def load_composable_node_param(param_path):
     ns = ""
     pkg = "euclidean_cluster"
 
-    # set compare map filter as a component
-    compare_map_filter_component = ComposableNode(
-        package="compare_map_segmentation",
-        namespace=ns,
-        plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
-        name=AnonName("compare_map_filter"),
-        remappings=[
-            ("input", LaunchConfiguration("input_pointcloud")),
-            ("map", LaunchConfiguration("input_map")),
-            ("output", "map_filter/pointcloud"),
-            ("map_loader_service", "/map/get_differential_pointcloud_map"),
-            ("kinematic_state", "/localization/kinematic_state"),
-        ],
-        parameters=[load_composable_node_param("compare_map_param_path")],
-    )
-
-    # separate range of pointcloud when map_filter used
-    use_map_short_range_crop_box_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="short_distance_crop_box_range",
-        remappings=[
-            ("input", "map_filter/pointcloud"),
-            ("output", "short_range/pointcloud"),
-        ],
-        parameters=[
-            load_composable_node_param("voxel_grid_based_euclidean_param_path"),
-            {
-                "negative": False,
-            },
-        ],
-    )
-
-    use_map_long_range_crop_box_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="long_distance_crop_box_range",
-        remappings=[
-            ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", "long_range/pointcloud"),
-        ],
-        parameters=[
-            load_composable_node_param("voxel_grid_based_euclidean_param_path"),
-            {
-                "negative": True,
-            },
-        ],
-    )
-
-    # disuse_map_voxel_grid_filter
-    disuse_map_short_range_crop_box_filter_component = ComposableNode(
+    low_height_cropbox_filter_component = ComposableNode(
         package="pointcloud_preprocessor",
         namespace=ns,
         plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="short_distance_crop_box_range",
+        name="low_height_crop_box_filter",
         remappings=[
             ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", "short_range/pointcloud"),
-        ],
-        parameters=[
-            load_composable_node_param("voxel_grid_based_euclidean_param_path"),
-            {
-                "negative": False,
-            },
-        ],
-    )
-
-    disuse_map_long_range_crop_box_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="long_distance_crop_box_range",
-        remappings=[
-            ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", "long_range/pointcloud"),
-        ],
-        parameters=[
-            load_composable_node_param("voxel_grid_based_euclidean_param_path"),
-            {
-                "negative": True,
-            },
-        ],
-    )
-
-    # set voxel grid filter as a component
-    voxel_grid_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::ApproximateDownsampleFilterComponent",
-        name=AnonName("voxel_grid_filter"),
-        remappings=[
-            ("input", "short_range/pointcloud"),
-            ("output", "downsampled/short_range/pointcloud"),
-        ],
-        parameters=[load_composable_node_param("voxel_grid_param_path")],
-    )
-
-    # set outlier filter as a component
-    outlier_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::VoxelGridOutlierFilterComponent",
-        name="outlier_filter",
-        remappings=[
-            ("input", "downsampled/short_range/pointcloud"),
-            ("output", "outlier_filter/pointcloud"),
-        ],
-        parameters=[load_composable_node_param("outlier_param_path")],
-    )
-
-    # concat with-outlier pointcloud and without-outlier pcl
-    downsample_concat_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        namespace=ns,
-        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
-        name="concat_downsampled_pcl",
-        remappings=[("output", "downsampled/concatenated/pointcloud")],
-        parameters=[
-            {
-                "input_topics": ["long_range/pointcloud", "outlier_filter/pointcloud"],
-                "output_frame": "base_link",
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    # set euclidean cluster as a component
-    use_downsample_euclidean_cluster_component = ComposableNode(
-        package=pkg,
-        namespace=ns,
-        plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
-        name="euclidean_cluster",
-        remappings=[
-            ("input", "downsampled/concatenated/pointcloud"),
-            ("output", LaunchConfiguration("output_clusters")),
+            ("output", "low_height/pointcloud"),
         ],
         parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
     )
 
-    use_map_disuse_downsample_euclidean_component = ComposableNode(
+    use_low_height_euclidean_component = ComposableNode(
         package=pkg,
         namespace=ns,
         plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
         name="euclidean_cluster",
         remappings=[
-            ("input", "map_filter/pointcloud"),
+            ("input", "low_height/pointcloud"),
             ("output", LaunchConfiguration("output_clusters")),
         ],
         parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
     )
-    disuse_map_disuse_downsample_euclidean_component = ComposableNode(
+
+    disuse_low_height_euclidean_component = ComposableNode(
         package=pkg,
         namespace=ns,
         plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
@@ -209,75 +79,24 @@ def load_composable_node_param(param_path):
         output="screen",
     )
 
-    use_map_use_downsample_loader = LoadComposableNodes(
+    use_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[
-            compare_map_filter_component,
-            use_map_short_range_crop_box_filter_component,
-            use_map_long_range_crop_box_filter_component,
-            voxel_grid_filter_component,
-            outlier_filter_component,
-            downsample_concat_component,
-            use_downsample_euclidean_cluster_component,
+            low_height_cropbox_filter_component,
+            use_low_height_euclidean_component,
         ],
         target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                LaunchConfiguration("use_pointcloud_map"),
-                LaunchConfiguration("use_downsample_pointcloud"),
-            )
-        ),
+        condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
-    disuse_map_use_downsample_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            disuse_map_short_range_crop_box_filter_component,
-            disuse_map_long_range_crop_box_filter_component,
-            voxel_grid_filter_component,
-            outlier_filter_component,
-            downsample_concat_component,
-            use_downsample_euclidean_cluster_component,
-        ],
+    disuse_low_height_pointcloud_loader = LoadComposableNodes(
+        composable_node_descriptions=[disuse_low_height_euclidean_component],
         target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                NotSubstitution(LaunchConfiguration("use_pointcloud_map")),
-                LaunchConfiguration("use_downsample_pointcloud"),
-            )
-        ),
-    )
-
-    use_map_disuse_downsample_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            compare_map_filter_component,
-            use_map_disuse_downsample_euclidean_component,
-        ],
-        target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                (LaunchConfiguration("use_pointcloud_map")),
-                NotSubstitution(LaunchConfiguration("use_downsample_pointcloud")),
-            )
-        ),
-    )
-
-    disuse_map_disuse_downsample_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            disuse_map_disuse_downsample_euclidean_component,
-        ],
-        target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                NotSubstitution(LaunchConfiguration("use_pointcloud_map")),
-                NotSubstitution(LaunchConfiguration("use_downsample_pointcloud")),
-            )
-        ),
+        condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
     return [
         container,
-        use_map_use_downsample_loader,
-        disuse_map_use_downsample_loader,
-        use_map_disuse_downsample_loader,
-        disuse_map_disuse_downsample_loader,
+        use_low_height_pointcloud_loader,
+        disuse_low_height_pointcloud_loader,
     ]
 
 
@@ -290,29 +109,7 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_pointcloud", "/perception/obstacle_segmentation/pointcloud"),
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
-            add_launch_arg("use_pointcloud_map", "false"),
-            add_launch_arg("use_downsample_pointcloud", "false"),
-            add_launch_arg(
-                "voxel_grid_param_path",
-                [
-                    FindPackageShare("autoware_launch"),
-                    "/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml",
-                ],
-            ),
-            add_launch_arg(
-                "outlier_param_path",
-                [
-                    FindPackageShare("autoware_launch"),
-                    "/config/perception/object_recognition/detection/clustering/outlier.param.yaml",
-                ],
-            ),
-            add_launch_arg(
-                "compare_map_param_path",
-                [
-                    FindPackageShare("autoware_launch"),
-                    "/config/perception/object_recognition/detection/clustering/compare_map.param.yaml",
-                ],
-            ),
+            add_launch_arg("use_low_height_cropbox", "false"),
             add_launch_arg(
                 "voxel_grid_based_euclidean_param_path",
                 [
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
index 2833fed81c28e..b6a426dabfd12 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
@@ -3,22 +3,14 @@
   <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="input_map" default="/map/pointcloud_map"/>
   <arg name="output_clusters" default="clusters"/>
-  <arg name="use_pointcloud_map" default="false"/>
-  <arg name="use_downsample_pointcloud" default="false"/>
-  <arg name="voxel_grid_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid.param.yaml"/>
-  <arg name="compare_map_param_path" default="$(find-pkg-share euclidean_cluster)/config/compare_map.param.yaml"/>
-  <arg name="outlier_param_path" default="$(find-pkg-share euclidean_cluster)/config/outlier.param.yaml"/>
+  <arg name="use_low_height_cropbox" default="false"/>
   <arg name="voxel_grid_based_euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid_based_euclidean_cluster.param.yaml"/>
 
   <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.py">
     <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
     <arg name="input_map" value="$(var input_map)"/>
     <arg name="output_clusters" value="$(var output_clusters)"/>
-    <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
-    <arg name="voxel_grid_param_path" value="$(var voxel_grid_param_path)"/>
-    <arg name="compare_map_param_path" value="$(var compare_map_param_path)"/>
-    <arg name="outlier_param_path" value="$(var outlier_param_path)"/>
+    <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     <arg name="voxel_grid_based_euclidean_param_path" value="$(var voxel_grid_based_euclidean_param_path)"/>
   </include>
 </launch>