diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
index 12ad512557cb1..210e5d049727c 100644
--- a/launch/tier4_localization_launch/launch/localization.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -6,6 +6,7 @@
+
diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
index 3c109769e13ba..59fd5174fa38c 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
@@ -2,9 +2,6 @@
-
-
-
@@ -15,8 +12,7 @@
-
-
+
diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt
index 6ae8cefc9088c..bd9d22523ea06 100644
--- a/localization/ekf_localizer/CMakeLists.txt
+++ b/localization/ekf_localizer/CMakeLists.txt
@@ -75,5 +75,6 @@ endif()
ament_auto_package(
INSTALL_TO_SHARE
+ config
launch
)
diff --git a/localization/ekf_localizer/config/ekf_localizer.param.yaml b/localization/ekf_localizer/config/ekf_localizer.param.yaml
new file mode 100644
index 0000000000000..322325d239004
--- /dev/null
+++ b/localization/ekf_localizer/config/ekf_localizer.param.yaml
@@ -0,0 +1,23 @@
+/**:
+ ros__parameters:
+ show_debug_info: false
+ enable_yaw_bias_estimation: True
+ predict_frequency: 50.0
+ tf_rate: 50.0
+ extend_state_step: 50
+
+ # for Pose measurement
+ pose_additional_delay: 0.0
+ pose_measure_uncertainty_time: 0.01
+ pose_smoothing_steps: 5
+ pose_gate_dist: 10000.0
+
+ # for twist measurement
+ twist_additional_delay: 0.0
+ twist_smoothing_steps: 2
+ twist_gate_dist: 10000.0
+
+ # for process model
+ proc_stddev_yaw_c: 0.005
+ proc_stddev_vx_c: 10.0
+ proc_stddev_wz_c: 5.0
diff --git a/localization/ekf_localizer/launch/ekf_localizer.launch.xml b/localization/ekf_localizer/launch/ekf_localizer.launch.xml
index c716d58bfc00c..ee0504293602a 100644
--- a/localization/ekf_localizer/launch/ekf_localizer.launch.xml
+++ b/localization/ekf_localizer/launch/ekf_localizer.launch.xml
@@ -1,30 +1,12 @@
-
-
-
-
-
+
-
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
@@ -45,26 +27,6 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
@@ -72,5 +34,7 @@
+
+