diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index 5070aa286..365b42c47 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -67,6 +67,12 @@
# Regularization scale factor
regularization_scale_factor: 0.01
+ # Dynamic map loading distance
+ dynamic_map_loading_update_distance: 20.0
+
+ # Dynamic map loading loading radius
+ dynamic_map_loading_map_radius: 150.0
+
# Radius of input LiDAR range (used for diagnostics of dynamic map loading)
lidar_radius: 100.0
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 45155cfe8..6e814f315 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -26,7 +26,6 @@
-
@@ -109,31 +108,12 @@
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
-
+
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 264deb0ff..bae586510 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -1,22 +1,18 @@
-
-
-
-
-
-
+
+
+
+
-
-
-
+
-
+
-
-
-
+
-
+
-
-
-
-
+
+
+
-
+
@@ -47,7 +44,10 @@
name="drivable_area_expansion_param_path"
value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml"
/>
-
+
-
@@ -49,8 +48,6 @@
-
-
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 50d7425bf..870b0578a 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -24,6 +24,8 @@
+
+
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 62fc034a6..770dfb537 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -9,6 +9,8 @@
+
+