diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index a5a4941bfe..d4c49b7e8e 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -95,9 +95,8 @@
     # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
     lidar_radius: 100.0
 
-    # cspell: ignore degrounded
-    # A flag for using scan matching score based on de-grounded LiDAR scan
-    estimate_scores_for_degrounded_scan: false
+    # A flag for using scan matching score based on no ground LiDAR scan
+    estimate_scores_by_no_ground_points: false
 
     # If lidar_point.z - base_link.z <= this threshold , the point will be removed
     z_margin_for_ground_removal: 0.8
diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
index 13369d5422..e4ea2becd7 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
@@ -23,4 +23,4 @@
 
     # logging
     enable_logging: false
-    log_file_path: "/tmp/decorative_tracker_merger.log"
+    logging_file_path: "/tmp/decorative_tracker_merger.log"
diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
index 3062a6cedd..187c63b7c7 100644
--- a/autoware_launch/launch/components/tier4_map_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -1,8 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
-    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.xml">
     <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+    <arg name="pointcloud_map_metadata_path" value="$(var map_path)/pointcloud_map_metadata.yaml"/>
+    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+    <arg name="map_projector_info_path" value="$(var map_path)/map_projector_info.yaml"/>
 
     <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"/>