diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index a5befcb1a7..5fb91cec10 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -48,7 +48,7 @@
     neighborhood_search_method: 0
 
     # Number of threads used for parallel computing
-    num_threads: 4
+    num_threads: 2
 
     # The covariance of output pose
     # Do note that this covariance matrix is empirically derived
diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml
index ed378ffa44..6d9eed20ef 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml
@@ -29,9 +29,9 @@
     max_area_matrix:
       #UNKNOWN, CAR,   TRUCK,  BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
       [ 0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #UNKNOWN
-        0.000,  0.000, 36.000,  0.000,     inf,   0.000,     0.000,   0.000,      #CAR
-        0.000,  0.000,  0.000,  0.000,     inf,   0.000,     0.000,   0.000,      #TRUCK
-        0.000,  0.000,  0.000,  0.000,     inf,   0.000,     0.000,   0.000,      #BUS
+        0.000,  0.000, 36.000,  0.000,   10000.0,   0.000,     0.000,   0.000,      #CAR
+        0.000,  0.000,  0.000,  0.000,   10000.0,   0.000,     0.000,   0.000,      #TRUCK
+        0.000,  0.000,  0.000,  0.000,   10000.0,   0.000,     0.000,   0.000,      #BUS
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #TRAILER
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #BICYCLE
diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py
index 87c46bce69..b0bed5dcb2 100644
--- a/autoware_launch/launch/pointcloud_container.launch.py
+++ b/autoware_launch/launch/pointcloud_container.launch.py
@@ -40,8 +40,8 @@ def add_launch_arg(name: str, default_value=None):
     pointcloud_container = ComposableNodeContainer(
         name=LaunchConfiguration("container_name"),
         namespace="/",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
+        package="rclcpp_component_container_callback_isolated",
+        executable="component_container_callback_isolated",
         composable_node_descriptions=[],
         output="screen",
     )