diff --git a/README.md b/README.md
index b22428a81..c88abfc7f 100644
--- a/README.md
+++ b/README.md
@@ -22,6 +22,4 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map
 - [localization_launch](./localization_launch)
 - [perception_launch](./perception_launch)
 - [planning_launch](./planning_launch)
-- [sensing_launch](./sensing_launch)
 - [system_launch](./system_launch)
-- [vehicle_launch](./vehicle_launch)
diff --git a/autoware_api_launch/launch/include/internal_api_adaptor.launch.py b/autoware_api_launch/launch/include/internal_api_adaptor.launch.py
index 422c35abe..f1962908c 100644
--- a/autoware_api_launch/launch/include/internal_api_adaptor.launch.py
+++ b/autoware_api_launch/launch/include/internal_api_adaptor.launch.py
@@ -31,7 +31,6 @@ def generate_launch_description():
     components = [
         _create_api_node("iv_msgs", "IVMsgs"),
         _create_api_node("operator", "Operator"),
-        _create_api_node("route", "Route"),
         _create_api_node("velocity", "Velocity"),
     ]
     container = ComposableNodeContainer(
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 65c153c3d..f966932c1 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -23,6 +23,7 @@
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="type of cruise planner"/>
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- Optional parameters for scenario simulation -->
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
@@ -100,6 +101,7 @@
     <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml" if="$(var planning)">
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
     </include>
   </group>
 
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index f5291f3e5..7ff1b4afb 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -11,6 +11,7 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="type of cruise planner"/>
   <!-- Optional parameters for scenario simulation -->
   <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
@@ -58,7 +59,9 @@
 
   <!-- Planning -->
   <group>
-    <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml"/>
+    <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
+      <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
+    </include>
   </group>
 
   <!-- Control -->
@@ -68,6 +71,8 @@
       <arg name="lateral_controller_mode" value="mpc_follower" />
       <!-- options for longitudinal_controller_mode: pid -->
       <arg name="longitudinal_controller_mode" value="pid" />
+      <!-- Options for external emergency stop module. Heartbeat topic is required if this is true. -->
+      <arg name="use_external_emergency_stop" value="false" />
     </include>
   </group>
 
diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml
index 845c05f06..ee4cd99d6 100644
--- a/control_launch/launch/control.launch.xml
+++ b/control_launch/launch/control.launch.xml
@@ -7,6 +7,7 @@
   <arg name="operation_mode_transition_manager_param_path" default="$(find-pkg-share control_launch)/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
   <arg name="shift_decider_param_path" default="$(find-pkg-share control_launch)/config/shift_decider/shift_decider.param.yaml"/>
   <arg name="initial_selector_mode" default="remote"/>
+  <arg name="use_external_emergency_stop" default="true"/>
 
   <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
     <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)" />
@@ -16,6 +17,7 @@
     <arg name="operation_mode_transition_manager_param_path" value="$(var operation_mode_transition_manager_param_path)"/>
     <arg name="shift_decider_param_path" value="$(var shift_decider_param_path)"/>
     <arg name="initial_selector_mode" value="$(var initial_selector_mode)"/>
+    <arg name="use_external_emergency_stop" value="$(var use_external_emergency_stop)"/>
   </include>
 
 </launch>
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 1b820b2c2..b90ddf20b 100644
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -12,8 +12,10 @@
 
       threshold_distance_object_is_on_center: 1.0 # [m]
       threshold_speed_object_is_stopped: 1.0      # [m/s]
+      threshold_time_object_is_moving: 1.0        # [s]
       object_check_forward_distance: 150.0        # [m]
       object_check_backward_distance: 2.0         # [m]
+      object_envelope_buffer: 0.3                 # [m]
       lateral_collision_margin: 1.0               # [m]
       lateral_collision_safety_buffer: 0.7        # [m]
 
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
index 09bc4a8d7..aec537f01 100644
--- a/system_launch/launch/system.launch.xml
+++ b/system_launch/launch/system.launch.xml
@@ -31,6 +31,14 @@
       </include>
     </group>
 
+    <!-- Component State Monitor -->
+    <group>
+      <include file="$(find-pkg-share component_state_monitor)/launch/component_state_monitor.launch.py">
+        <arg name="mode" value="$(var run_mode)"/>
+        <arg name="file" value="$(find-pkg-share component_state_monitor)/config/topics.yaml"/>
+      </include>
+    </group>
+
     <!-- Error Monitor -->
     <group>
       <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>