diff --git a/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml b/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml
index 3b7f113c43a94..494310c11a6a8 100644
--- a/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml
+++ b/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml
@@ -12,7 +12,7 @@
     trans_epsilon: 0.01
 
     # The newton line search maximum step length
-    step_size: 0.1
+    step_size: 0.12345
 
     # The ND voxel grid resolution
     resolution: 2.0
diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
index 2883a21877888..be7a3f9b7c3b8 100644
--- a/launch/tier4_localization_launch/launch/localization.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -4,8 +4,6 @@
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
-  <arg name="tier4_localization_launch_param_path" default="$(find-pkg-share tier4_localization_launch)/config" description="tier4_localization_launch parameter path"/>
-
   <!-- localization module -->
   <group>
     <push-ros-namespace namespace="localization"/>
@@ -16,14 +14,12 @@
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-        <arg name="tier4_localization_launch_param_path" value="$(var tier4_localization_launch_param_path)"/>
       </include>
     </group>
     <!-- pose_estimator module -->
     <group>
       <push-ros-namespace namespace="pose_estimator"/>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_estimator/pose_estimator.launch.xml">
-        <arg name="tier4_localization_launch_param_path" value="$(var tier4_localization_launch_param_path)"/>
       </include>
     </group>
     <!-- twist_estimator module -->
@@ -39,7 +35,6 @@
     <!-- localization_error_monitor_module -->
     <group>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/localization_error_monitor/localization_error_monitor.launch.xml">
-        <arg name="param_file" value="$(var tier4_localization_launch_param_path)/localization_error_monitor.param.yaml"/>
       </include>
     </group>
   </group>
diff --git a/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
index 43cfc7403184d..f8485a81585e8 100644
--- a/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
@@ -3,7 +3,7 @@
   <group>
     <include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
       <arg name="input/odom" value="/localization/kinematic_state"/>
-      <arg name="param_file" value="$(find-pkg-share tier4_localization_launch)/config/localization_error_monitor.param.yaml"/>
+      <arg name="param_file" value="$(var localization_localization_error_monitor_param_path)"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml
index 750adca4c2fa0..4367321383e51 100644
--- a/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="tier4_localization_launch_param_path"/>
   <group>
     <include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
       <arg name="input_map_points_topic" value="/map/pointcloud_map"/>
@@ -10,7 +9,7 @@
       <arg name="output_pose_topic" value="/localization/pose_estimator/pose"/>
       <arg name="output_pose_with_covariance_topic" value="/localization/pose_estimator/pose_with_covariance"/>
 
-      <arg name="param_file" value="$(var tier4_localization_launch_param_path)/ndt_scan_matcher.param.yaml"/>
+      <arg name="param_file" value="$(var localization_ndt_scan_matcher_param_path)"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py
index 44186b9986618..71fd632964ad6 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.py
+++ b/launch/tier4_localization_launch/launch/util/util.launch.py
@@ -94,32 +94,24 @@ def add_launch_arg(name: str, default_value=None, description=None):
         arg = DeclareLaunchArgument(name, default_value=default_value, description=description)
         launch_arguments.append(arg)
 
-    add_launch_arg(
-        "tier4_localization_launch_param_path",
-        [FindPackageShare("tier4_localization_launch"), "/config"],
-        "tier4_localization_launch param path",
-    )
     add_launch_arg(
         "crop_box_filter_measurement_range_param_path",
         [
-            LaunchConfiguration("tier4_localization_launch_param_path"),
-            "/crop_box_filter_measurement_range.param.yaml",
+            LaunchConfiguration("localization_crop_box_filter_measurement_range_param_path"),
         ],
         "path to the parameter file of crop_box_filter_measurement_range",
     )
     add_launch_arg(
         "voxel_grid_downsample_filter_param_path",
         [
-            LaunchConfiguration("tier4_localization_launch_param_path"),
-            "/voxel_grid_filter.param.yaml",
+            LaunchConfiguration("localization_voxel_grid_filter_param_path"),
         ],
         "path to the parameter file of voxel_grid_downsample_filter",
     )
     add_launch_arg(
         "random_downsample_filter_param_path",
         [
-            LaunchConfiguration("tier4_localization_launch_param_path"),
-            "/random_downsample_filter.param.yaml",
+            LaunchConfiguration("localization_random_downsample_filter_param_path"),
         ],
         "path to the parameter file of random_downsample_filter",
     )
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.xml b/launch/tier4_localization_launch/launch/util/util.launch.xml
index 3070bc80bbc54..1dfe2e3d5f109 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.xml
+++ b/launch/tier4_localization_launch/launch/util/util.launch.xml
@@ -2,7 +2,6 @@
 <launch>
   <!-- Topics -->
   <arg name="input/pointcloud" description="input topic name"/>
-  <arg name="tier4_localization_launch_param_path" description="tier4_localization_launch param path"/>
   <arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
 
   <!-- container -->
@@ -29,7 +28,6 @@
   <!-- util -->
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
-      <arg name="tier4_localization_launch_param_path" value="$(var tier4_localization_launch_param_path)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/pointcloud" value="$(var output/pointcloud)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>