diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
index ebdf2828fc..4cc71e0904 100644
--- a/autoware_launch/config/localization/ekf_localizer.param.yaml
+++ b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -1,37 +1,46 @@
 /**:
   ros__parameters:
-    show_debug_info: false
-    enable_yaw_bias_estimation: true
-    predict_frequency: 50.0
-    tf_rate: 50.0
-    publish_tf: true
-    extend_state_step: 50
+    node:
+      show_debug_info: false
+      enable_yaw_bias_estimation: true
+      predict_frequency: 50.0
+      tf_rate: 50.0
+      publish_tf: true
+      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
+    pose_measurement:
+      # 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
+    twist_measurement:
+      # 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
+    process_noise:
+      # for process model
+      proc_stddev_yaw_c: 0.005
+      proc_stddev_vx_c: 10.0
+      proc_stddev_wz_c: 5.0
 
-    #Simple1DFilter parameters
-    z_filter_proc_dev: 1.0
-    roll_filter_proc_dev: 0.01
-    pitch_filter_proc_dev: 0.01
-    # for diagnostics
-    pose_no_update_count_threshold_warn: 50
-    pose_no_update_count_threshold_error: 100
-    twist_no_update_count_threshold_warn: 50
-    twist_no_update_count_threshold_error: 100
+    simple_1d_filter_parameters:
+      #Simple1DFilter parameters
+      z_filter_proc_dev: 1.0
+      roll_filter_proc_dev: 0.01
+      pitch_filter_proc_dev: 0.01
 
-    # for velocity measurement limitation (Set 0.0 if you want to ignore)
-    threshold_observable_velocity_mps: 0.0 # [m/s]
+    diagnostics:
+      # for diagnostics
+      pose_no_update_count_threshold_warn: 50
+      pose_no_update_count_threshold_error: 100
+      twist_no_update_count_threshold_warn: 50
+      twist_no_update_count_threshold_error: 100
+
+    misc:
+      # for velocity measurement limitation (Set 0.0 if you want to ignore)
+      threshold_observable_velocity_mps: 0.0 # [m/s]
+      pose_frame_id: "map"
diff --git a/autoware_launch/config/map/map_tf_generator.param.yaml b/autoware_launch/config/map/map_tf_generator.param.yaml
new file mode 100644
index 0000000000..90790808ac
--- /dev/null
+++ b/autoware_launch/config/map/map_tf_generator.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    map_frame: map
+    viewer_frame: viewer
diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
index 0b29a87965..a9c3174846 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
@@ -13,3 +13,14 @@
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    score_threshold: 0.35
+    has_twist: false
+    trt_precision: fp16
+    densification_num_past_frames: 1
+    densification_world_frame_id: map
+
+    # weight files
+    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
index 8252fde827..5eb560dd7b 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
@@ -13,3 +13,15 @@
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    score_threshold: 0.35
+    build_only: false # shutdown node after TensorRT engine file is built
+    has_twist: false
+    trt_precision: fp16
+    densification_num_past_frames: 1
+    densification_world_frame_id: map
+
+    # weight files
+    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
index 8fb88da291..8ccd469786 100755
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
@@ -1,7 +1,6 @@
 /**:
   ros__parameters:
     trt_precision: fp16
-    build_only: false
     encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
     encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
     head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 3512d722ec..69328a9b79 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -9,6 +9,9 @@ launch:
   - arg:
       name: launch_dynamic_avoidance_module
       default: "false"
+  - arg:
+      name: launch_sampling_planner_module
+      default: "false" # Warning, experimental module, use only in simulations
   - arg:
       name: launch_lane_change_right_module
       default: "true"
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml
new file mode 100644
index 0000000000..9a6b30c219
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml
@@ -0,0 +1,40 @@
+/**:
+  ros__parameters:
+    common:
+      output_delta_arc_length: 0.5  #  [m] delta arc length for output trajectory
+
+    debug:
+      enable_calculation_time_info: false  # flag to print calculation times
+      id: 0  # id of the candidate paths for which to print/show details (e.g., footprint in rviz)
+
+    preprocessing:
+      force_zero_initial_deviation: True  # if true, initial planning starts from the reference path
+      force_zero_initial_heading: True # if true, initial planning starts with a heading aligned with the reference path
+      smooth_reference_trajectory: False # if true, the reference trajectory is smoothed before being used for planning
+    constraints:
+      hard:
+        max_curvature: 3.0  # [m⁻¹] maximum curvature of a sampled path
+        min_curvature: -3.0  # [m⁻¹] minimum curvature of a sampled path
+      soft:
+        lateral_deviation_weight: 1.0  # cost weight for lateral deviation between the end of a sampled path and the reference path
+        length_weight: 1.0  # cost weight for the length of a sampled path
+        curvature_weight: 2000.0  # cost weight for the curvature of a sampled path
+        weights: [0.5,1.0,20.0]
+    sampling:
+      enable_frenet: True
+      enable_bezier: False
+      resolution: 0.5  # [m] target distance between sampled path points
+      previous_path_reuse_points_nb: 2  # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc)
+      target_lengths: [20.0, 40.0]  # [m] target lengths of the sampled paths
+      nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation)
+      target_lateral_positions: [-4.5,-2.5, 0.0, 2.5,4.5]  # manual values that are only used if nb_target_lateral_positions = 0
+      frenet:  # target values for the sampled "lateral deviation over longitudinal position" polynomial
+        target_lateral_velocities: [-0.5, 0.0, 0.5]
+        target_lateral_accelerations: [0.0]
+      # bezier:
+      #   nb_k: 3  # number of sampled curvature values
+      #   mk_min: 0.0  # minimum curvature value
+      #   mk_max: 10.0  # maximum curvature value
+      #   nb_t: 5  # number of sampled acceleration values
+      #   mt_min: 0.3  # minimum acceleration value
+      #   mt_max: 1.7  # maximum acceleration value
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
index 9853e220bc..8d4fe057b4 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -82,3 +82,12 @@
       keep_last: true
       priority: 7
       max_module_size: 1
+
+    sampling_planner:
+      enable_module: true
+      enable_rtc: false
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
+      priority: 16
+      max_module_size: 1
diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
index 455b848c63..ba5611b6c0 100644
--- a/autoware_launch/launch/components/tier4_map_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -8,6 +8,7 @@
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
     <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
+    <arg name="map_tf_generator_param_path" value="$(find-pkg-share autoware_launch)/config/map/map_tf_generator.param.yaml"/>
     <arg name="map_projection_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/map_projection_loader.param.yaml"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 4e65c30c02..cbc2349a6e 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -27,6 +27,7 @@
     <arg name="behavior_path_planner_side_shift_module_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
     <arg name="behavior_path_planner_avoidance_module_param_path" value="$(var behavior_path_config_path)/avoidance/avoidance.param.yaml"/>
     <arg name="behavior_path_planner_avoidance_by_lc_module_param_path" value="$(var behavior_path_config_path)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml"/>
+    <arg name="behavior_path_planner_sampling_planner_module_param_path" value="$(var behavior_path_config_path)/sampling_planner/sampling_planner.param.yaml"/>
     <arg name="behavior_path_planner_dynamic_avoidance_module_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
     <arg name="behavior_path_planner_lane_change_module_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
     <arg name="behavior_path_planner_goal_planner_module_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>