diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
index 6b77bb4c24931..093449176b047 100644
--- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
+++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
@@ -15,9 +15,6 @@
 #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 
-#include "ament_index_cpp/get_package_share_directory.hpp"
-#include "rclcpp/rclcpp.hpp"
-
 #include <component_interface_specs/planning.hpp>
 #include <lanelet2_extension/io/autoware_osm_parser.hpp>
 #include <lanelet2_extension/projection/mgrs_projector.hpp>
@@ -51,7 +48,6 @@
 #include <limits>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 namespace autoware::test_utils
@@ -174,6 +170,45 @@ LaneletRoute makeNormalRoute();
  */
 OccupancyGrid makeCostMapMsg(size_t width = 150, size_t height = 150, double resolution = 0.2);
 
+/**
+ * @brief Get the absolute path to the lanelet map file.
+ *
+ * This function retrieves the absolute path to a lanelet map file located in the
+ * package's share directory under the "test_map" folder.
+ *
+ * @param package_name The name of the package containing the map file.
+ * @param map_filename The name of the map file.
+ * @return A string representing the absolute path to the lanelet map file.
+ */
+std::string get_absolute_path_to_lanelet_map(
+  const std::string & package_name, const std::string & map_filename);
+
+/**
+ * @brief Get the absolute path to the route file.
+ *
+ * This function retrieves the absolute path to a route file located in the
+ * package's share directory under the "test_route" folder.
+ *
+ * @param package_name The name of the package containing the route file.
+ * @param route_filename The name of the route file.
+ * @return A string representing the absolute path to the route file.
+ */
+std::string get_absolute_path_to_route(
+  const std::string & package_name, const std::string & route_filename);
+
+/**
+ * @brief Get the absolute path to the config file.
+ *
+ * This function retrieves the absolute path to a route file located in the
+ * package's share directory under the "config" folder.
+ *
+ * @param package_name The name of the package containing the route file.
+ * @param route_filename The name of the config file.
+ * @return A string representing the absolute path to the config file.
+ */
+std::string get_absolute_path_to_config(
+  const std::string & package_name, const std::string & config_filename);
+
 /**
  * @brief Creates a LaneletMapBin message from a Lanelet map file.
  *
diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp
index c7435be5afcec..563350dbe53cc 100644
--- a/common/autoware_test_utils/src/autoware_test_utils.cpp
+++ b/common/autoware_test_utils/src/autoware_test_utils.cpp
@@ -12,7 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_test_utils/autoware_test_utils.hpp"
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
+#include <rclcpp/clock.hpp>
+#include <rclcpp/executors/single_threaded_executor.hpp>
+#include <rclcpp/logging.hpp>
+#include <rclcpp/node.hpp>
+
+#include <utility>
+
 namespace autoware::test_utils
 {
 
@@ -103,6 +111,27 @@ OccupancyGrid makeCostMapMsg(size_t width, size_t height, double resolution)
   return costmap_msg;
 }
 
+std::string get_absolute_path_to_lanelet_map(
+  const std::string & package_name, const std::string & map_filename)
+{
+  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+  return dir + "/test_map/" + map_filename;
+}
+
+std::string get_absolute_path_to_route(
+  const std::string & package_name, const std::string & route_filename)
+{
+  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+  return dir + "/test_route/" + route_filename;
+}
+
+std::string get_absolute_path_to_config(
+  const std::string & package_name, const std::string & config_filename)
+{
+  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+  return dir + "/config/" + config_filename;
+}
+
 LaneletMapBin make_map_bin_msg(
   const std::string & absolute_path, const double center_line_resolution)
 {
@@ -122,12 +151,8 @@ LaneletMapBin make_map_bin_msg(
 
 LaneletMapBin makeMapBinMsg()
 {
-  const auto autoware_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("autoware_test_utils");
-  const auto lanelet2_path = autoware_test_utils_dir + "/test_map/lanelet2_map.osm";
-  double center_line_resolution = 5.0;
-
-  return make_map_bin_msg(lanelet2_path, center_line_resolution);
+  return make_map_bin_msg(
+    get_absolute_path_to_lanelet_map("autoware_test_utils", "lanelet2_map.osm"));
 }
 
 Odometry makeOdometry(const double shift)
@@ -251,9 +276,8 @@ void updateNodeOptions(
 
 PathWithLaneId loadPathWithLaneIdInYaml()
 {
-  const auto autoware_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("autoware_test_utils");
-  const auto yaml_path = autoware_test_utils_dir + "/config/path_with_lane_id_data.yaml";
+  const auto yaml_path =
+    get_absolute_path_to_config("autoware_test_utils", "path_with_lane_id_data.yaml");
   YAML::Node yaml_node = YAML::LoadFile(yaml_path);
   PathWithLaneId path_msg;
 
diff --git a/localization/localization_util/CMakeLists.txt b/localization/localization_util/CMakeLists.txt
index fe65077d89649..9a9086314f42e 100644
--- a/localization/localization_util/CMakeLists.txt
+++ b/localization/localization_util/CMakeLists.txt
@@ -7,6 +7,7 @@ autoware_package()
 ament_auto_add_library(localization_util SHARED
   src/util_func.cpp
   src/smart_pose_buffer.cpp
+  src/tree_structured_parzen_estimator.cpp
 )
 
 if(BUILD_TESTING)
@@ -15,6 +16,11 @@ if(BUILD_TESTING)
     test/test_smart_pose_buffer.cpp
     src/smart_pose_buffer.cpp
   )
+
+  ament_auto_add_gtest(test_tpe
+    test/test_tpe.cpp
+    src/tree_structured_parzen_estimator.cpp
+  )
 endif()
 
 ament_auto_package(
diff --git a/localization/localization_util/README.md b/localization/localization_util/README.md
index a3e980464d0c6..a7daea33e0273 100644
--- a/localization/localization_util/README.md
+++ b/localization/localization_util/README.md
@@ -1,5 +1,5 @@
 # localization_util
 
-`localization_util`` is a localization utility package.
+`localization_util` is a localization utility package.
 
 This package does not have a node, it is just a library.
diff --git a/localization/tree_structured_parzen_estimator/include/tree_structured_parzen_estimator/tree_structured_parzen_estimator.hpp b/localization/localization_util/include/localization_util/tree_structured_parzen_estimator.hpp
similarity index 90%
rename from localization/tree_structured_parzen_estimator/include/tree_structured_parzen_estimator/tree_structured_parzen_estimator.hpp
rename to localization/localization_util/include/localization_util/tree_structured_parzen_estimator.hpp
index 3853fed2c3943..ee25ac175c0b4 100644
--- a/localization/tree_structured_parzen_estimator/include/tree_structured_parzen_estimator/tree_structured_parzen_estimator.hpp
+++ b/localization/localization_util/include/localization_util/tree_structured_parzen_estimator.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TREE_STRUCTURED_PARZEN_ESTIMATOR__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
-#define TREE_STRUCTURED_PARZEN_ESTIMATOR__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
+#ifndef LOCALIZATION_UTIL__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
+#define LOCALIZATION_UTIL__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
 
 /*
 A implementation of tree-structured parzen estimator (TPE)
@@ -81,4 +81,4 @@ class TreeStructuredParzenEstimator
   Input base_stddev_;
 };
 
-#endif  // TREE_STRUCTURED_PARZEN_ESTIMATOR__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
+#endif  // LOCALIZATION_UTIL__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
diff --git a/localization/tree_structured_parzen_estimator/src/tree_structured_parzen_estimator.cpp b/localization/localization_util/src/tree_structured_parzen_estimator.cpp
similarity index 98%
rename from localization/tree_structured_parzen_estimator/src/tree_structured_parzen_estimator.cpp
rename to localization/localization_util/src/tree_structured_parzen_estimator.cpp
index f7cdcbacd3e04..aab78f0aaec71 100644
--- a/localization/tree_structured_parzen_estimator/src/tree_structured_parzen_estimator.cpp
+++ b/localization/localization_util/src/tree_structured_parzen_estimator.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tree_structured_parzen_estimator/tree_structured_parzen_estimator.hpp"
+#include "localization_util/tree_structured_parzen_estimator.hpp"
 
 #include <algorithm>
 #include <cassert>
diff --git a/localization/tree_structured_parzen_estimator/test/test_tpe.cpp b/localization/localization_util/test/test_tpe.cpp
similarity index 97%
rename from localization/tree_structured_parzen_estimator/test/test_tpe.cpp
rename to localization/localization_util/test/test_tpe.cpp
index 357c86289ef1f..fd9afe8b2a75f 100644
--- a/localization/tree_structured_parzen_estimator/test/test_tpe.cpp
+++ b/localization/localization_util/test/test_tpe.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tree_structured_parzen_estimator/tree_structured_parzen_estimator.hpp"
+#include "localization_util/tree_structured_parzen_estimator.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml
index b62e810926331..6b0a44bdf1c55 100644
--- a/localization/ndt_scan_matcher/package.xml
+++ b/localization/ndt_scan_matcher/package.xml
@@ -40,7 +40,6 @@
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_localization_msgs</depend>
-  <depend>tree_structured_parzen_estimator</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_cppcheck</test_depend>
diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
index e84d6709c3151..f87b1cd8e98a8 100644
--- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
+++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
@@ -15,9 +15,9 @@
 #include "ndt_scan_matcher/ndt_scan_matcher_core.hpp"
 
 #include "localization_util/matrix_type.hpp"
+#include "localization_util/tree_structured_parzen_estimator.hpp"
 #include "localization_util/util_func.hpp"
 #include "ndt_scan_matcher/particle.hpp"
-#include "tree_structured_parzen_estimator/tree_structured_parzen_estimator.hpp"
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/transform/transforms.hpp>
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/grid_key.hpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/grid_key.hpp
index c366a7f02f4fe..b4ad7111e4ba0 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/grid_key.hpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/grid_key.hpp
@@ -30,7 +30,7 @@ struct GridKey
   GridKey() : x(0), y(0) {}
   GridKey(float x, float y) : x(std::floor(x / unit_length)), y(std::floor(y / unit_length)) {}
 
-  pcl::PointXYZ get_center_point() const
+  [[nodiscard]] pcl::PointXYZ get_center_point() const
   {
     pcl::PointXYZ xyz;
     xyz.x = unit_length * (static_cast<float>(x) + 0.5f);
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp
index 72071b23b467f..4b0188a1638f6 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp
@@ -20,6 +20,11 @@
 
 #include <pcl_conversions/pcl_conversions.h>
 
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <vector>
+
 namespace pose_estimator_arbiter::rule_helper
 {
 PcdOccupancy::PcdOccupancy(int pcd_density_upper_threshold, int pcd_density_lower_threshold)
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp
index e5eb4ff091a31..098704e11aba9 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp
@@ -24,6 +24,8 @@
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 
+#include <string>
+
 namespace pose_estimator_arbiter::rule_helper
 {
 class PcdOccupancy
@@ -34,7 +36,7 @@ class PcdOccupancy
 public:
   explicit PcdOccupancy(int pcd_density_upper_threshold, int pcd_density_lower_threshold);
 
-  MarkerArray debug_marker_array() const;
+  [[nodiscard]] MarkerArray debug_marker_array() const;
   void init(PointCloud2::ConstSharedPtr msg);
   bool ndt_can_operate(
     const geometry_msgs::msg::Point & position, std::string * optional_message = nullptr) const;
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp
index 4eea34f9ae1ee..df7f9c6c1035f 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp
@@ -33,14 +33,14 @@ using BoostPolygon = boost::geometry::model::polygon<BoostPoint>;
 
 struct PoseEstimatorArea::Impl
 {
-  explicit Impl(rclcpp::Logger logger) : logger_(logger) {}
+  explicit Impl(const rclcpp::Logger & logger) : logger_(logger) {}
   std::multimap<std::string, BoostPolygon> bounding_boxes_;
 
   void init(HADMapBin::ConstSharedPtr msg);
-  bool within(
+  [[nodiscard]] bool within(
     const geometry_msgs::msg::Point & point, const std::string & pose_estimator_name) const;
 
-  MarkerArray debug_marker_array() const { return marker_array_; }
+  [[nodiscard]] MarkerArray debug_marker_array() const { return marker_array_; }
 
 private:
   rclcpp::Logger logger_;
@@ -105,7 +105,7 @@ void PoseEstimatorArea::Impl::init(HADMapBin::ConstSharedPtr msg)
     marker.color.set__r(1.0f).set__g(1.0f).set__b(0.0f).set__a(1.0f);
     marker.ns = subtype;
     marker.header.frame_id = "map";
-    marker.id = marker_array_.markers.size();
+    marker.id = static_cast<int>(marker_array_.markers.size());
 
     // Enqueue the vertices of the polygon to bounding box and visualization marker
     BoostPolygon poly;
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp
index 392219b2281e1..74843c66a4eba 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp
@@ -40,10 +40,10 @@ class PoseEstimatorArea
   // This is assumed to be called only once in the vector map callback.
   void init(const HADMapBin::ConstSharedPtr msg);
 
-  bool within(
+  [[nodiscard]] bool within(
     const geometry_msgs::msg::Point & point, const std::string & pose_estimator_name) const;
 
-  MarkerArray debug_marker_array() const;
+  [[nodiscard]] MarkerArray debug_marker_array() const;
 
 private:
   struct Impl;
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp
index 4c3829316230b..0d8880d5c4d16 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp
@@ -16,12 +16,16 @@
 
 #include <tier4_autoware_utils/ros/parameter.hpp>
 
+#include <utility>
+
 namespace pose_estimator_arbiter::switch_rule
 {
 PcdMapBasedRule::PcdMapBasedRule(
-  rclcpp::Node & node, const std::unordered_set<PoseEstimatorType> & running_estimator_list,
-  const std::shared_ptr<const SharedData> shared_data)
-: BaseSwitchRule(node), running_estimator_list_(running_estimator_list), shared_data_(shared_data)
+  rclcpp::Node & node, std::unordered_set<PoseEstimatorType> running_estimator_list,
+  std::shared_ptr<const SharedData> shared_data)
+: BaseSwitchRule(node),
+  running_estimator_list_(std::move(running_estimator_list)),
+  shared_data_(std::move(shared_data))
 {
   const int pcd_density_upper_threshold =
     tier4_autoware_utils::getOrDeclareParameter<int>(node, "pcd_density_upper_threshold");
@@ -63,14 +67,14 @@ std::unordered_map<PoseEstimatorType, bool> PcdMapBasedRule::update()
       {PoseEstimatorType::eagleye, false},
       {PoseEstimatorType::artag, false},
     };
-  } else {
-    debug_string_ = "Enable yabloc: ";
-    return {
-      {PoseEstimatorType::ndt, false},
-      {PoseEstimatorType::yabloc, true},
-      {PoseEstimatorType::eagleye, false},
-      {PoseEstimatorType::artag, false}};
   }
+
+  debug_string_ = "Enable yabloc: ";
+  return {
+    {PoseEstimatorType::ndt, false},
+    {PoseEstimatorType::yabloc, true},
+    {PoseEstimatorType::eagleye, false},
+    {PoseEstimatorType::artag, false}};
 }
 
 }  // namespace pose_estimator_arbiter::switch_rule
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp
index 23fd0f812f700..ab4d18dcad66a 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp
@@ -31,7 +31,7 @@ class PcdMapBasedRule : public BaseSwitchRule
 {
 public:
   PcdMapBasedRule(
-    rclcpp::Node & node, const std::unordered_set<PoseEstimatorType> & running_estimator_list,
+    rclcpp::Node & node, std::unordered_set<PoseEstimatorType> running_estimator_list,
     const std::shared_ptr<const SharedData> shared_data);
 
   std::unordered_map<PoseEstimatorType, bool> update() override;
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp
index 675842662acf8..dffb738e87685 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp
@@ -16,12 +16,16 @@
 
 #include <magic_enum.hpp>
 
+#include <utility>
+
 namespace pose_estimator_arbiter::switch_rule
 {
 VectorMapBasedRule::VectorMapBasedRule(
-  rclcpp::Node & node, const std::unordered_set<PoseEstimatorType> & running_estimator_list,
-  const std::shared_ptr<const SharedData> shared_data)
-: BaseSwitchRule(node), running_estimator_list_(running_estimator_list), shared_data_(shared_data)
+  rclcpp::Node & node, std::unordered_set<PoseEstimatorType> running_estimator_list,
+  std::shared_ptr<const SharedData> shared_data)
+: BaseSwitchRule(node),
+  running_estimator_list_(std::move(running_estimator_list)),
+  shared_data_(std::move(shared_data))
 {
   pose_estimator_area_ = std::make_unique<rule_helper::PoseEstimatorArea>(node.get_logger());
 
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp
index e3360f9692f86..83723a346054b 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp
@@ -32,8 +32,8 @@ class VectorMapBasedRule : public BaseSwitchRule
 {
 public:
   VectorMapBasedRule(
-    rclcpp::Node & node, const std::unordered_set<PoseEstimatorType> & running_estimator_list,
-    const std::shared_ptr<const SharedData> shared_data);
+    rclcpp::Node & node, std::unordered_set<PoseEstimatorType> running_estimator_list,
+    std::shared_ptr<const SharedData> shared_data);
 
   std::unordered_map<PoseEstimatorType, bool> update() override;
 
diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp b/localization/pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp
index 5febfa403363e..f53e01dc9c548 100644
--- a/localization/pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp
+++ b/localization/pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp
@@ -19,10 +19,10 @@
 
 #include <unordered_set>
 
-class MockNode : public ::testing::Test
+class PcdMapBasedRuleMockNode : public ::testing::Test
 {
 protected:
-  virtual void SetUp()
+  void SetUp() override
   {
     rclcpp::init(0, nullptr);
     node = std::make_shared<rclcpp::Node>("test_node");
@@ -46,10 +46,10 @@ class MockNode : public ::testing::Test
   std::shared_ptr<pose_estimator_arbiter::SharedData> shared_data_;
   std::shared_ptr<pose_estimator_arbiter::switch_rule::PcdMapBasedRule> rule_;
 
-  virtual void TearDown() { rclcpp::shutdown(); }
+  void TearDown() override { rclcpp::shutdown(); }
 };
 
-TEST_F(MockNode, pcdMapBasedRule)
+TEST_F(PcdMapBasedRuleMockNode, pcdMapBasedRule)
 {
   // Create dummy pcd and set
   {
diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp b/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
index beda4d720b7f6..0001ce674a2e8 100644
--- a/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
+++ b/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
@@ -28,10 +28,10 @@
 
 #include <unordered_set>
 
-class MockNode : public ::testing::Test
+class RuleHelperMockNode : public ::testing::Test
 {
 protected:
-  virtual void SetUp()
+  void SetUp() override
   {
     rclcpp::init(0, nullptr);
     node = std::make_shared<rclcpp::Node>("test_node");
@@ -39,10 +39,10 @@ class MockNode : public ::testing::Test
 
   std::shared_ptr<rclcpp::Node> node{nullptr};
 
-  virtual void TearDown() { rclcpp::shutdown(); }
+  void TearDown() override { rclcpp::shutdown(); }
 };
 
-TEST_F(MockNode, poseEstimatorArea)
+TEST_F(RuleHelperMockNode, poseEstimatorArea)
 {
   auto create_polygon3d = []() -> lanelet::Polygon3d {
     lanelet::Polygon3d polygon;
@@ -73,7 +73,7 @@ TEST_F(MockNode, poseEstimatorArea)
   EXPECT_FALSE(pose_estimator_area.within(Point().set__x(-5).set__y(-5).set__z(0), "yabloc"));
 }
 
-TEST_F(MockNode, pcdOccupancy)
+TEST_F(RuleHelperMockNode, pcdOccupancy)
 {
   using pose_estimator_arbiter::rule_helper::PcdOccupancy;
   const int pcd_density_upper_threshold = 20;
@@ -89,7 +89,7 @@ TEST_F(MockNode, pcdOccupancy)
   EXPECT_FALSE(pcd_occupancy.ndt_can_operate(point, &message));
 }
 
-TEST_F(MockNode, gridKey)
+TEST_F(RuleHelperMockNode, gridKey)
 {
   using pose_estimator_arbiter::rule_helper::GridKey;
   EXPECT_TRUE(GridKey(10., -5.) == GridKey(10., -10.));
diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp b/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
index 66d867883272b..a4fd91365f433 100644
--- a/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
+++ b/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
@@ -24,10 +24,10 @@
 
 #include <unordered_set>
 
-class MockNode : public ::testing::Test
+class VectorMapBasedRuleMockNode : public ::testing::Test
 {
 protected:
-  virtual void SetUp()
+  void SetUp() override
   {
     rclcpp::init(0, nullptr);
     node = std::make_shared<rclcpp::Node>("test_node");
@@ -49,10 +49,10 @@ class MockNode : public ::testing::Test
   std::shared_ptr<pose_estimator_arbiter::SharedData> shared_data_;
   std::shared_ptr<pose_estimator_arbiter::switch_rule::VectorMapBasedRule> rule_;
 
-  virtual void TearDown() { rclcpp::shutdown(); }
+  void TearDown() override { rclcpp::shutdown(); }
 };
 
-TEST_F(MockNode, vectorMapBasedRule)
+TEST_F(VectorMapBasedRuleMockNode, vectorMapBasedRule)
 {
   // Create dummy lanelet2 and set
   {
diff --git a/localization/pose_estimator_arbiter/package.xml b/localization/pose_estimator_arbiter/package.xml
index 70896d93d9cb8..134cad7534502 100644
--- a/localization/pose_estimator_arbiter/package.xml
+++ b/localization/pose_estimator_arbiter/package.xml
@@ -4,7 +4,13 @@
   <name>pose_estimator_arbiter</name>
   <version>0.1.0</version>
   <description>The arbiter of multiple pose estimators</description>
+  <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
+  <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
+  <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>
+  <maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
+  <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
+  <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
   <license>Apache License 2.0</license>
   <author email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</author>
 
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_type.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_type.hpp
index edf12537198a3..d78bfeb05b4f0 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_type.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_type.hpp
@@ -18,6 +18,6 @@
 namespace pose_estimator_arbiter
 {
 enum class PoseEstimatorType : int { ndt = 1, yabloc = 2, eagleye = 4, artag = 8 };
-}
+}  // namespace pose_estimator_arbiter
 
 #endif  // POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_TYPE_HPP_
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp
index a72dc5585877b..0d3dbfab11cbe 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp
@@ -30,29 +30,29 @@ namespace pose_estimator_arbiter
 template <typename T>
 struct CallbackInvokingVariable
 {
-  CallbackInvokingVariable() {}
+  CallbackInvokingVariable() = default;
 
-  explicit CallbackInvokingVariable(T initial_data) : value(initial_data) {}
+  explicit CallbackInvokingVariable(T initial_data) : value_(initial_data) {}
 
   // Set data and invoke all callbacks
   void set_and_invoke(T new_value)
   {
-    value = new_value;
+    value_ = new_value;
 
     // Call all callbacks with the new value
-    for (const auto & callback : callbacks) {
-      callback(value.value());
+    for (const auto & callback : callbacks_) {
+      callback(value_.value());
     }
   }
 
   // Same as std::optional::has_value()
-  bool has_value() const { return value.has_value(); }
+  bool has_value() const { return value_.has_value(); }
 
   // Same as std::optional::value()
-  const T operator()() const { return value.value(); }
+  T operator()() const { return value_.value(); }
 
   // Register callback function which is invoked when set_and_invoke() is called
-  void register_callback(std::function<void(T)> callback) const { callbacks.push_back(callback); }
+  void register_callback(std::function<void(T)> callback) const { callbacks_.push_back(callback); }
 
   // Create subscription callback function which is used as below:
   //   auto subscriber = create_subscription<T>("topic_name", 10,
@@ -64,10 +64,10 @@ struct CallbackInvokingVariable
 
 private:
   // The latest data
-  std::optional<T> value{std::nullopt};
+  std::optional<T> value_{std::nullopt};
 
   // These functions are expected not to change the value variable
-  mutable std::vector<std::function<void(T)>> callbacks;
+  mutable std::vector<std::function<void(T)>> callbacks_;
 };
 
 // This structure is handed to several modules as shared_ptr so that all modules can access data.
@@ -80,7 +80,7 @@ struct SharedData
   using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using InitializationState = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
 
-  SharedData() {}
+  SharedData() = default;
 
   // Used for stoppers
   CallbackInvokingVariable<PoseCovStamped::ConstSharedPtr> eagleye_output_pose_cov;
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/base_stopper.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/base_stopper.hpp
index fc2242a0b27e9..d64592a12308e 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/base_stopper.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/base_stopper.hpp
@@ -20,6 +20,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
+#include <utility>
 
 namespace pose_estimator_arbiter::stopper
 {
@@ -28,11 +29,16 @@ class BaseStopper
 public:
   using SharedPtr = std::shared_ptr<BaseStopper>;
 
-  explicit BaseStopper(rclcpp::Node * node, const std::shared_ptr<const SharedData> shared_data)
-  : logger_(node->get_logger()), shared_data_(shared_data)
+  explicit BaseStopper(rclcpp::Node * node, std::shared_ptr<const SharedData> shared_data)
+  : logger_(node->get_logger()), shared_data_(std::move(shared_data))
   {
   }
 
+  virtual ~BaseStopper() = default;
+  BaseStopper(const BaseStopper & other) = default;
+  BaseStopper(BaseStopper && other) noexcept = default;
+  BaseStopper & operator=(const BaseStopper & other) = default;
+  BaseStopper & operator=(BaseStopper && other) noexcept = default;
   void enable() { set_enable(true); }
   void disable() { set_enable(false); }
 
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_artag.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_artag.hpp
index 72a3f5412add0..f334983f33aad 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_artag.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_artag.hpp
@@ -29,7 +29,7 @@ class StopperArTag : public BaseStopper
   using SetBool = std_srvs::srv::SetBool;
 
 public:
-  explicit StopperArTag(rclcpp::Node * node, const std::shared_ptr<const SharedData> shared_data)
+  explicit StopperArTag(rclcpp::Node * node, const std::shared_ptr<const SharedData> & shared_data)
   : BaseStopper(node, shared_data)
   {
     ar_tag_is_enabled_ = true;
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_eagleye.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_eagleye.hpp
index 12bbe8c9769a1..cc800ad6bdee4 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_eagleye.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_eagleye.hpp
@@ -27,7 +27,8 @@ class StopperEagleye : public BaseStopper
   using PoseCovStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
 
 public:
-  explicit StopperEagleye(rclcpp::Node * node, const std::shared_ptr<const SharedData> shared_data)
+  explicit StopperEagleye(
+    rclcpp::Node * node, const std::shared_ptr<const SharedData> & shared_data)
   : BaseStopper(node, shared_data)
   {
     eagleye_is_enabled_ = true;
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_ndt.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_ndt.hpp
index dacea02f77bde..3b7c083ea31e3 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_ndt.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_ndt.hpp
@@ -27,7 +27,7 @@ class StopperNdt : public BaseStopper
   using PointCloud2 = sensor_msgs::msg::PointCloud2;
 
 public:
-  explicit StopperNdt(rclcpp::Node * node, const std::shared_ptr<const SharedData> shared_data)
+  explicit StopperNdt(rclcpp::Node * node, const std::shared_ptr<const SharedData> & shared_data)
   : BaseStopper(node, shared_data)
   {
     ndt_is_enabled_ = true;
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_yabloc.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_yabloc.hpp
index 2cd8b66f4ffd4..808a5bf9407ca 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_yabloc.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_yabloc.hpp
@@ -29,7 +29,7 @@ class StopperYabLoc : public BaseStopper
   using SetBool = std_srvs::srv::SetBool;
 
 public:
-  explicit StopperYabLoc(rclcpp::Node * node, const std::shared_ptr<const SharedData> shared_data)
+  explicit StopperYabLoc(rclcpp::Node * node, const std::shared_ptr<const SharedData> & shared_data)
   : BaseStopper(node, shared_data)
   {
     yabloc_is_enabled_ = true;
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/base_switch_rule.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/base_switch_rule.hpp
index 5770f18efa32c..95d10c2b741a8 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/base_switch_rule.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/base_switch_rule.hpp
@@ -40,12 +40,16 @@ class BaseSwitchRule
   }
 
   virtual ~BaseSwitchRule() = default;
+  BaseSwitchRule(const BaseSwitchRule & other) = default;
+  BaseSwitchRule(BaseSwitchRule && other) noexcept = default;
+  BaseSwitchRule & operator=(const BaseSwitchRule & other) = default;
+  BaseSwitchRule & operator=(BaseSwitchRule && other) noexcept = default;
   virtual std::unordered_map<PoseEstimatorType, bool> update() = 0;
   virtual std::string debug_string() { return std::string{}; }
   virtual MarkerArray debug_marker_array() { return MarkerArray{}; }
 
 protected:
-  rclcpp::Logger get_logger() const { return *logger_ptr_; }
+  [[nodiscard]] rclcpp::Logger get_logger() const { return *logger_ptr_; }
   std::shared_ptr<rclcpp::Logger> logger_ptr_{nullptr};
 };
 
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp
index 2b2e325c3d94b..aebad094a0eca 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp
@@ -19,14 +19,15 @@
 #include <memory>
 #include <string>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 namespace pose_estimator_arbiter::switch_rule
 {
 EnableAllRule::EnableAllRule(
-  rclcpp::Node & node, const std::unordered_set<PoseEstimatorType> & running_estimator_list,
-  const std::shared_ptr<const SharedData>)
-: BaseSwitchRule(node), running_estimator_list_(running_estimator_list)
+  rclcpp::Node & node, std::unordered_set<PoseEstimatorType> running_estimator_list,
+  const std::shared_ptr<const SharedData> &)
+: BaseSwitchRule(node), running_estimator_list_(std::move(running_estimator_list))
 {
 }
 
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.hpp
index 568226985b2ff..63142b0e662e1 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.hpp
@@ -29,10 +29,8 @@ class EnableAllRule : public BaseSwitchRule
 {
 public:
   EnableAllRule(
-    rclcpp::Node & node, const std::unordered_set<PoseEstimatorType> & running_estimator_list,
-    const std::shared_ptr<const SharedData> shared_data);
-
-  virtual ~EnableAllRule() = default;
+    rclcpp::Node & node, std::unordered_set<PoseEstimatorType> running_estimator_list,
+    const std::shared_ptr<const SharedData> & shared_data);
 
   std::unordered_map<PoseEstimatorType, bool> update() override;
 
diff --git a/localization/tree_structured_parzen_estimator/CMakeLists.txt b/localization/tree_structured_parzen_estimator/CMakeLists.txt
deleted file mode 100644
index 7b687a12a003c..0000000000000
--- a/localization/tree_structured_parzen_estimator/CMakeLists.txt
+++ /dev/null
@@ -1,23 +0,0 @@
-cmake_minimum_required(VERSION 3.14)
-project(tree_structured_parzen_estimator)
-
-find_package(autoware_cmake REQUIRED)
-autoware_package()
-
-ament_auto_add_library(tree_structured_parzen_estimator SHARED
-  src/tree_structured_parzen_estimator.cpp
-)
-
-if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(test_tpe
-    test/test_tpe.cpp
-    src/tree_structured_parzen_estimator.cpp
-  )
-  target_include_directories(test_tpe PRIVATE include)
-  target_link_libraries(test_tpe)
-endif()
-
-ament_auto_package(
-  INSTALL_TO_SHARE
-)
diff --git a/localization/tree_structured_parzen_estimator/README.md b/localization/tree_structured_parzen_estimator/README.md
deleted file mode 100644
index 2b21e65929485..0000000000000
--- a/localization/tree_structured_parzen_estimator/README.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# tree_structured_parzen_estimator
-
-`tree_structured_parzen_estimator`` is a package for black-box optimization.
-
-This package does not have a node, it is just a library.
diff --git a/localization/tree_structured_parzen_estimator/package.xml b/localization/tree_structured_parzen_estimator/package.xml
deleted file mode 100644
index 96d2b9ecf54cc..0000000000000
--- a/localization/tree_structured_parzen_estimator/package.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>tree_structured_parzen_estimator</name>
-  <version>0.1.0</version>
-  <description>The tree_structured_parzen_estimator package</description>
-  <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
-  <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
-  <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
-  <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
-  <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>
-  <maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
-  <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
-  <license>Apache License 2.0</license>
-  <author email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</author>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-  <buildtool_depend>autoware_cmake</buildtool_depend>
-
-  <test_depend>ament_cmake_cppcheck</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/planning/autoware_behavior_path_lane_change_module/package.xml b/planning/autoware_behavior_path_lane_change_module/package.xml
index dca36f99e3faa..ca338771064b9 100644
--- a/planning/autoware_behavior_path_lane_change_module/package.xml
+++ b/planning/autoware_behavior_path_lane_change_module/package.xml
@@ -12,6 +12,7 @@
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>
   <maintainer email="tomohito.ando@tier4.jp">Tomohito Ando</maintainer>
+  <maintainer email="alqudah.mohammad@tier4.jp">Alqudah Mohammad</maintainer>
 
   <license>Apache License 2.0</license>
 
diff --git a/planning/autoware_route_handler/package.xml b/planning/autoware_route_handler/package.xml
index 61a8a43b31461..64cdaf596b52d 100644
--- a/planning/autoware_route_handler/package.xml
+++ b/planning/autoware_route_handler/package.xml
@@ -10,6 +10,7 @@
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
   <maintainer email="go.sakayori@tier4.jp">Go Sakayori</maintainer>
+  <maintainer email="alqudah.mohammad@tier4.jp">Alqudah Mohammad</maintainer>
 
   <license>Apache License 2.0</license>
 
diff --git a/planning/behavior_velocity_occlusion_spot_module/plugins.xml b/planning/behavior_velocity_occlusion_spot_module/plugins.xml
deleted file mode 100644
index 53a2c460c2e44..0000000000000
--- a/planning/behavior_velocity_occlusion_spot_module/plugins.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<library path="autoware_behavior_velocity_occlusion_spot_module">
-  <class type="autoware::behavior_velocity_planner::OcclusionSpotModulePlugin" base_class_type="autoware::behavior_velocity_planner::PluginInterface"/>
-</library>
diff --git a/system/default_ad_api/src/vehicle.cpp b/system/default_ad_api/src/vehicle.cpp
index e25933e6ca2ad..47932f969c172 100644
--- a/system/default_ad_api/src/vehicle.cpp
+++ b/system/default_ad_api/src/vehicle.cpp
@@ -167,7 +167,7 @@ void VehicleNode::publish_status()
 {
   if (
     !steering_status_msgs_ || !gear_status_msgs_ || !turn_indicator_status_msgs_ ||
-    !hazard_light_status_msgs_ || !energy_status_msgs_)
+    !hazard_light_status_msgs_)
     return;
 
   autoware_ad_api::vehicle::VehicleStatus::Message vehicle_status;
@@ -178,7 +178,6 @@ void VehicleNode::publish_status()
     mapping(turn_indicator_type_, turn_indicator_status_msgs_->report, ApiTurnIndicator::UNKNOWN);
   vehicle_status.hazard_lights.status =
     mapping(hazard_light_type_, hazard_light_status_msgs_->report, ApiHazardLight::UNKNOWN);
-  vehicle_status.energy_percentage = energy_status_msgs_->energy_level;
   pub_status_->publish(vehicle_status);
 }