diff --git a/driving_environment_analyzer/launch/driving_environment_analyzer.launch.xml b/driving_environment_analyzer/launch/driving_environment_analyzer.launch.xml
index 2ba3e71d..f1b8fdd7 100644
--- a/driving_environment_analyzer/launch/driving_environment_analyzer.launch.xml
+++ b/driving_environment_analyzer/launch/driving_environment_analyzer.launch.xml
@@ -7,7 +7,7 @@
   <arg name="map_projection_loader_param_path" default="$(find-pkg-share autoware_launch)/config/map/map_projection_loader.param.yaml"/>
 
   <node_container pkg="rclcpp_components" exec="component_container" name="map_container" namespace="" output="screen">
-    <composable_node pkg="map_loader" plugin="Lanelet2MapLoaderNode" name="lanelet2_map_loader">
+    <composable_node pkg="autoware_map_loader" plugin="autoware::map_loader::Lanelet2MapLoaderNode" name="lanelet2_map_loader">
       <param from="$(var lanelet2_map_loader_param_path)"/>
       <param name="lanelet2_map_path" value="$(var map_path)/lanelet2_map.osm"/>
       <remap from="output/lanelet2_map" to="/map/vector_map"/>
diff --git a/map/autoware_lanelet2_map_validator/src/common/cli.cpp b/map/autoware_lanelet2_map_validator/src/common/cli.cpp
index b87941ad..6b130231 100644
--- a/map/autoware_lanelet2_map_validator/src/common/cli.cpp
+++ b/map/autoware_lanelet2_map_validator/src/common/cli.cpp
@@ -16,11 +16,7 @@
 
 namespace po = boost::program_options;
 
-namespace lanelet
-{
-namespace autoware
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 
 MetaConfig parseCommandLine(int argc, const char * argv[])
@@ -102,6 +98,4 @@ MetaConfig parseCommandLine(int argc, const char * argv[])
   return config;
 }
 
-}  // namespace validation
-}  // namespace autoware
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
diff --git a/map/autoware_lanelet2_map_validator/src/common/validation.cpp b/map/autoware_lanelet2_map_validator/src/common/validation.cpp
index 35a8f99d..b3e33b8f 100644
--- a/map/autoware_lanelet2_map_validator/src/common/validation.cpp
+++ b/map/autoware_lanelet2_map_validator/src/common/validation.cpp
@@ -39,11 +39,7 @@
 
 // cSpell:words indegree Indegree
 
-namespace lanelet
-{
-namespace autoware
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 
 std::unique_ptr<lanelet::Projector> getProjector(
@@ -416,6 +412,4 @@ void process_requirements(json json_data, const MetaConfig & validator_config)
   }
 }
 
-}  // namespace validation
-}  // namespace autoware
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/cli.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/cli.hpp
index 600bb553..9e5d8f8c 100644
--- a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/cli.hpp
+++ b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/cli.hpp
@@ -22,11 +22,7 @@
 #include <iostream>
 #include <string>
 
-namespace lanelet
-{
-namespace autoware
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 struct MetaConfig
 {
@@ -38,8 +34,6 @@ struct MetaConfig
 
 MetaConfig parseCommandLine(int argc, const char * argv[]);
 
-}  // namespace validation
-}  // namespace autoware
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
 
 #endif  // LANELET2_MAP_VALIDATOR__CLI_HPP_
diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/utils.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/utils.hpp
index 775a9831..db93c2a4 100644
--- a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/utils.hpp
+++ b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/utils.hpp
@@ -21,11 +21,7 @@
 #include <string>
 #include <vector>
 
-namespace lanelet
-{
-namespace autoware
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 template <typename T>
 void appendIssues(std::vector<T> & to, std::vector<T> && from)
@@ -76,8 +72,6 @@ void checkPrimitivesType(
   }
 }
 
-}  // namespace validation
-}  // namespace autoware
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
 
 #endif  // LANELET2_MAP_VALIDATOR__UTILS_HPP_
diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validation.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validation.hpp
index 5b1d230d..fb90dffd 100644
--- a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validation.hpp
+++ b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validation.hpp
@@ -46,11 +46,7 @@ constexpr const char * utm = "utm";
 }  // namespace projector_names
 }  // namespace
 
-namespace lanelet
-{
-namespace autoware
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 struct ValidatorInfo
 {
@@ -90,8 +86,6 @@ lanelet::validation::ValidationConfig replace_validator(
 
 void process_requirements(
   json json_data, const lanelet::autoware::validation::MetaConfig & validator_config);
-}  // namespace validation
-}  // namespace autoware
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
 
 #endif  // LANELET2_MAP_VALIDATOR__VALIDATION_HPP_
diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/crosswalk/missing_regulatory_elements_for_crosswalks.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/crosswalk/missing_regulatory_elements_for_crosswalks.hpp
index 94ebdd04..ff98c626 100644
--- a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/crosswalk/missing_regulatory_elements_for_crosswalks.hpp
+++ b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/crosswalk/missing_regulatory_elements_for_crosswalks.hpp
@@ -18,9 +18,7 @@
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 class MissingRegulatoryElementsForCrosswalksValidator : public lanelet::validation::MapValidator
 {
@@ -33,8 +31,7 @@ class MissingRegulatoryElementsForCrosswalksValidator : public lanelet::validati
   lanelet::validation::Issues checkMissingRegulatoryElementsForCrosswalks(
     const lanelet::LaneletMap & map);
 };
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
 
 // clang-format off
 #endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_  // NOLINT
diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/crosswalk/regulatory_element_details_for_crosswalks.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/crosswalk/regulatory_element_details_for_crosswalks.hpp
index a3c5ea13..81deea9e 100644
--- a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/crosswalk/regulatory_element_details_for_crosswalks.hpp
+++ b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/crosswalk/regulatory_element_details_for_crosswalks.hpp
@@ -18,9 +18,7 @@
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 class RegulatoryElementsDetailsForCrosswalksValidator : public lanelet::validation::MapValidator
 {
@@ -33,8 +31,7 @@ class RegulatoryElementsDetailsForCrosswalksValidator : public lanelet::validati
 private:
   lanelet::validation::Issues checkRegulatoryElementOfCrosswalks(const lanelet::LaneletMap & map);
 };
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
 
 // clang-format off
 #endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_  // NOLINT
diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/stop_line/missing_regulatory_elements_for_stop_lines.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/stop_line/missing_regulatory_elements_for_stop_lines.hpp
index 9a4c4f58..ed857b71 100644
--- a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/stop_line/missing_regulatory_elements_for_stop_lines.hpp
+++ b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/stop_line/missing_regulatory_elements_for_stop_lines.hpp
@@ -18,9 +18,7 @@
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 class MissingRegulatoryElementsForStopLinesValidator : public lanelet::validation::MapValidator
 {
@@ -33,8 +31,7 @@ class MissingRegulatoryElementsForStopLinesValidator : public lanelet::validatio
   lanelet::validation::Issues checkMissingRegulatoryElementsForStopLines(
     const lanelet::LaneletMap & map);
 };
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
 
 // clang-format off
 #endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_  // NOLINT
diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.hpp
index 604f6c2b..16c85971 100644
--- a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.hpp
+++ b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.hpp
@@ -18,9 +18,7 @@
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 class MissingRegulatoryElementsForTrafficLightsValidator : public lanelet::validation::MapValidator
 {
@@ -36,8 +34,7 @@ class MissingRegulatoryElementsForTrafficLightsValidator : public lanelet::valid
   lanelet::validation::Issues checkMissingRegulatoryElementsForTrafficLights(
     const lanelet::LaneletMap & map);
 };
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
 
 // clang-format off
 #endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_  // NOLINT
diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/regulatory_element_details_for_traffic_lights.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/regulatory_element_details_for_traffic_lights.hpp
index 6b31635d..07bbd840 100644
--- a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/regulatory_element_details_for_traffic_lights.hpp
+++ b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/regulatory_element_details_for_traffic_lights.hpp
@@ -20,9 +20,7 @@
 
 #include <vector>
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 class RegulatoryElementsDetailsForTrafficLightsValidator : public lanelet::validation::MapValidator
 {
@@ -40,8 +38,7 @@ class RegulatoryElementsDetailsForTrafficLightsValidator : public lanelet::valid
   lanelet::validation::Issues checkRegulatoryElementOfTrafficLights(
     const lanelet::LaneletMap & map);
 };
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
 
 // clang-format off
 #endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_  // NOLINT
diff --git a/map/autoware_lanelet2_map_validator/src/validators/crosswalk/missing_regulatory_elements_for_crosswalk.cpp b/map/autoware_lanelet2_map_validator/src/validators/crosswalk/missing_regulatory_elements_for_crosswalk.cpp
index 165fdbc3..36716c14 100644
--- a/map/autoware_lanelet2_map_validator/src/validators/crosswalk/missing_regulatory_elements_for_crosswalk.cpp
+++ b/map/autoware_lanelet2_map_validator/src/validators/crosswalk/missing_regulatory_elements_for_crosswalk.cpp
@@ -21,9 +21,7 @@
 
 #include <set>
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 namespace
 {
@@ -91,5 +89,4 @@ MissingRegulatoryElementsForCrosswalksValidator::checkMissingRegulatoryElementsF
 
   return issues;
 }
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
diff --git a/map/autoware_lanelet2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp b/map/autoware_lanelet2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp
index 70b36acc..da23b9ca 100644
--- a/map/autoware_lanelet2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp
+++ b/map/autoware_lanelet2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp
@@ -22,9 +22,7 @@
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_validation/Validation.h>
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 namespace
 {
@@ -125,5 +123,4 @@ RegulatoryElementsDetailsForCrosswalksValidator::checkRegulatoryElementOfCrosswa
   return issues;
 }
 
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
diff --git a/map/autoware_lanelet2_map_validator/src/validators/stop_line/missing_regulatory_elements_for_stop_lines.cpp b/map/autoware_lanelet2_map_validator/src/validators/stop_line/missing_regulatory_elements_for_stop_lines.cpp
index 1fe24153..1f9aa2f1 100644
--- a/map/autoware_lanelet2_map_validator/src/validators/stop_line/missing_regulatory_elements_for_stop_lines.cpp
+++ b/map/autoware_lanelet2_map_validator/src/validators/stop_line/missing_regulatory_elements_for_stop_lines.cpp
@@ -25,9 +25,7 @@
 #include <algorithm>
 #include <set>
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 namespace
 {
@@ -102,5 +100,4 @@ MissingRegulatoryElementsForStopLinesValidator::checkMissingRegulatoryElementsFo
   return issues;
 }
 
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
diff --git a/map/autoware_lanelet2_map_validator/src/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.cpp b/map/autoware_lanelet2_map_validator/src/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.cpp
index 96eccf11..2ad34356 100644
--- a/map/autoware_lanelet2_map_validator/src/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.cpp
+++ b/map/autoware_lanelet2_map_validator/src/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.cpp
@@ -25,9 +25,7 @@
 #include <algorithm>
 #include <set>
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 namespace
 {
@@ -92,5 +90,4 @@ MissingRegulatoryElementsForTrafficLightsValidator::checkMissingRegulatoryElemen
   return issues;
 }
 
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
diff --git a/map/autoware_lanelet2_map_validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp b/map/autoware_lanelet2_map_validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp
index ff9f4535..d163f3a1 100644
--- a/map/autoware_lanelet2_map_validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp
+++ b/map/autoware_lanelet2_map_validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp
@@ -21,9 +21,7 @@
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_validation/Validation.h>
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 namespace
 {
@@ -111,5 +109,4 @@ RegulatoryElementsDetailsForTrafficLightsValidator::checkRegulatoryElementOfTraf
   return issues;
 }
 
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
diff --git a/map/autoware_lanelet2_map_validator/src/validators/validator_template.cpp b/map/autoware_lanelet2_map_validator/src/validators/validator_template.cpp
index 42ae2769..c444a046 100644
--- a/map/autoware_lanelet2_map_validator/src/validators/validator_template.cpp
+++ b/map/autoware_lanelet2_map_validator/src/validators/validator_template.cpp
@@ -14,9 +14,7 @@
 
 #include "validator_template.hpp"
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 namespace
 {
@@ -32,5 +30,4 @@ lanelet::validation::Issues ValidatorTemplate::operator()(const lanelet::Lanelet
 
   return issues;
 }
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
diff --git a/map/autoware_lanelet2_map_validator/src/validators/validator_template.hpp b/map/autoware_lanelet2_map_validator/src/validators/validator_template.hpp
index e541f4e0..1b4507ab 100644
--- a/map/autoware_lanelet2_map_validator/src/validators/validator_template.hpp
+++ b/map/autoware_lanelet2_map_validator/src/validators/validator_template.hpp
@@ -18,9 +18,7 @@
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
 
-namespace lanelet
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 class ValidatorTemplate : public lanelet::validation::MapValidator
 {
@@ -32,7 +30,6 @@ class ValidatorTemplate : public lanelet::validation::MapValidator
 
 private:
 };
-}  // namespace validation
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
 
 #endif  // VALIDATORS__VALIDATOR_TEMPLATE_HPP_
diff --git a/map/autoware_lanelet2_map_validator/test/src/test_json_processing.cpp b/map/autoware_lanelet2_map_validator/test/src/test_json_processing.cpp
index 183936ab..9cee0749 100644
--- a/map/autoware_lanelet2_map_validator/test/src/test_json_processing.cpp
+++ b/map/autoware_lanelet2_map_validator/test/src/test_json_processing.cpp
@@ -27,11 +27,7 @@
 
 using json = nlohmann::json;
 
-namespace lanelet
-{
-namespace autoware
-{
-namespace validation
+namespace lanelet::autoware::validation
 {
 
 class JsonProcessingTest : public ::testing::Test
@@ -156,6 +152,4 @@ TEST_F(JsonProcessingTest, SummarizeValidatorResults)
   EXPECT_NE(output.find("Total of 1 errors were found"), std::string::npos);
   EXPECT_EQ(output.find("warnings were found"), std::string::npos);
 }
-}  // namespace validation
-}  // namespace autoware
-}  // namespace lanelet
+}  // namespace lanelet::autoware::validation
diff --git a/planning/planning_debug_tools/README.md b/planning/planning_debug_tools/README.md
index 48cc8838..d3e138ec 100644
--- a/planning/planning_debug_tools/README.md
+++ b/planning/planning_debug_tools/README.md
@@ -195,7 +195,7 @@ This script can overlay the perception results from the rosbag on the planning s
 
 ### How it works
 
-Whenever the ego's position changes, a chronological `reproduce_sequence` queue is generated base on its position with a search radius (default to 2 m).
+Whenever the ego's position changes, a chronological `reproduce_sequence` queue is generated based on its position with a search radius (default to 2 m).
 If the queue is empty, the nearest odom message in the rosbag is added to the queue.
 When publishing perception messages, the first element in the `reproduce_sequence` is popped and published.
 
@@ -204,6 +204,18 @@ This design results in the following behavior:
 - When ego stops, the perception messages are published in chronological order until queue is empty.
 - When the ego moves, a perception message close to ego's position is published.
 
+### Available Options
+
+- `-b`, `--bag`: Rosbag file path (required)
+- `-d`, `--detected-object`: Publish detected objects
+- `-t`, `--tracked-object`: Publish tracked objects
+- `-r`, `--search-radius`: Set the search radius in meters (default: 1.5m). If set to 0, always publishes the nearest message
+- `-c`, `--reproduce-cool-down`: Set the cool down time in seconds (default: 80.0s)
+- `-p`, `--pub-route`: Initialize localization and publish a route based on poses from the rosbag
+- `-n`, `--noise`: Apply perception noise to objects when publishing repeated messages (default: True)
+- `-f`, `--rosbag-format`: Specify rosbag data format (default: "db3")
+- `-v`, `--verbose`: Output debug data
+
 ### How to use
 
 First, launch the planning simulator, and put the ego pose.
@@ -223,8 +235,17 @@ ros2 run planning_debug_tools perception_reproducer.py -b <dir-to-bag-files>
 
 Instead of publishing predicted objects, you can publish detected/tracked objects by designating `-d` or `-t`, respectively.
 
-You can use `-r` option to set the search radius in meters for the perception messages. If it is set to 0, the reproducer always publishes the nearest perception message as how did the old perception_reproducer work.
-`-c`(`--reproduce-cool-down`) option is to set the cool down time in seconds, aiming to prevent republishing recently published messages.
+The `--pub-route` option enables automatic route generation based on the rosbag data. When enabled, the script:
+
+1. Extracts the initial and goal poses from the beginning and end of the rosbag file
+2. Initializes the localization system with the initial pose
+3. Generates and publishes a route to the goal pose
+
+Example usage with route publication:
+
+```bash
+ros2 run planning_debug_tools perception_reproducer.py -b <bag-file> -p
+```
 
 ## Perception replayer
 
diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
index 3f63321b..8b32d0d0 100755
--- a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
+++ b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
@@ -24,6 +24,7 @@
 import rclpy
 from utils import StopWatch
 from utils import create_empty_pointcloud
+from utils import pub_route
 from utils import translate_objects_coordinate
 
 
@@ -281,8 +282,8 @@ def add_perception_noise(
 
 
 if __name__ == "__main__":
-    parser = argparse.ArgumentParser()
-    parser.add_argument("-b", "--bag", help="rosbag", default=None)
+    parser = argparse.ArgumentParser(description="Perception Reproducer")
+    parser.add_argument("-b", "--bag", help="rosbag file path", required=True)
     parser.add_argument(
         "-n",
         "--noise",
@@ -316,10 +317,23 @@ def add_perception_noise(
         type=float,
         default=80.0,
     )
-
+    parser.add_argument(
+        "-p",
+        "--pub-route",
+        help=(
+            "publish route created from the initial pose and goal pose retrieved from the beginning and end of the rosbag. "
+            "By default, route are not published."
+        ),
+        action="store_true",
+    )
     args = parser.parse_args()
 
-    rclpy.init()
+    if not args.bag:
+        parser.error("The '--bag' argument is required.")
+
+    if args.pub_route:
+        pub_route(args.bag)
+
     node = PerceptionReproducer(args)
 
     try:
diff --git a/planning/planning_debug_tools/scripts/perception_replayer/utils.py b/planning/planning_debug_tools/scripts/perception_replayer/utils.py
index 34489f5b..f1f628e3 100644
--- a/planning/planning_debug_tools/scripts/perception_replayer/utils.py
+++ b/planning/planning_debug_tools/scripts/perception_replayer/utils.py
@@ -16,14 +16,30 @@
 
 import math
 import time
+from typing import Tuple
 
+from autoware_adapi_v1_msgs.srv import SetRoutePoints
+from geometry_msgs.msg import Point
+from geometry_msgs.msg import Pose
+from geometry_msgs.msg import PoseWithCovariance
+from geometry_msgs.msg import PoseWithCovarianceStamped
 from geometry_msgs.msg import Quaternion
 import numpy as np
+import rclpy
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.node import Node
+from rclpy.serialization import deserialize_message
 import rosbag2_py
+from rosbag2_py import ConverterOptions
+from rosbag2_py import SequentialReader
+from rosbag2_py import StorageOptions
+from rosidl_runtime_py.utilities import get_message
 from sensor_msgs.msg import PointCloud2
 from sensor_msgs.msg import PointField
+from std_msgs.msg import Header
 from tf_transformations import euler_from_quaternion
 from tf_transformations import quaternion_from_euler
+from tier4_localization_msgs.srv import InitializeLocalization
 
 
 def get_starting_time(uri: str):
@@ -131,6 +147,95 @@ def translate_objects_coordinate(ego_pose, log_ego_pose, objects_msg):
         object_pose.orientation = get_quaternion_from_yaw(log_object_yaw + log_ego_yaw - ego_yaw)
 
 
+def create_reader(bag_dir: str) -> SequentialReader:
+    storage_options = StorageOptions(uri=bag_dir, storage_id="sqlite3")
+    converter_options = ConverterOptions(
+        input_serialization_format="cdr", output_serialization_format="cdr"
+    )
+    reader = SequentialReader()
+    reader.open(storage_options, converter_options)
+    return reader
+
+
+def is_close_pose(p0, p1, min_dist, max_dist) -> bool:
+    dist = np.linalg.norm([p0.x - p1.x, p0.y - p1.y, p0.z - p1.z])
+    return dist < min_dist or dist > max_dist
+
+
+def get_pose_from_bag(input_path: str, interval=(0.1, 10000.0)) -> Tuple[Pose, Pose]:
+    reader = create_reader(input_path)
+    type_map = {
+        topic_type.name: topic_type.type for topic_type in reader.get_all_topics_and_types()
+    }
+    pose_list = []
+    is_first_pose = True
+    prev_trans = None
+
+    while reader.has_next():
+        topic, data, _ = reader.read_next()
+        if topic == "/tf":
+            msg_type = get_message(type_map[topic])
+            msg = deserialize_message(data, msg_type)
+            for transform in msg.transforms:
+                if transform.child_frame_id != "base_link":
+                    continue
+                trans = transform.transform.translation
+                rot = transform.transform.rotation
+                if is_first_pose:
+                    is_first_pose = False
+                    prev_trans = trans
+                elif is_close_pose(prev_trans, trans, interval[0], interval[1]):
+                    continue
+                pose_list.append((trans, rot))
+                prev_trans = trans
+
+    if not pose_list:
+        raise ValueError("No valid poses found in the bag file.")
+
+    initial_trans, initial_rot = pose_list[0]
+    goal_trans, goal_rot = pose_list[-1]
+
+    initial_pose = Pose()
+    initial_pose.position = Point(x=initial_trans.x, y=initial_trans.y, z=initial_trans.z)
+    initial_pose.orientation = initial_rot
+
+    goal_pose = Pose()
+    goal_pose.position = Point(x=goal_trans.x, y=goal_trans.y, z=goal_trans.z)
+    goal_pose.orientation = goal_rot
+
+    return initial_pose, goal_pose
+
+
+def pub_route(input_path: str):
+    rclpy.init()
+
+    try:
+        first_pose, last_pose = get_pose_from_bag(input_path)
+    except Exception as e:
+        print(f"Error retrieving poses from bag: {e}")
+        return
+
+    localization_client = LocalizationInitializer()
+    future_init = localization_client.send_initial_pose(first_pose)
+    rclpy.spin_until_future_complete(localization_client, future_init)
+    if future_init.result() is not None:
+        print("Successfully initialized localization.")
+    else:
+        print("Failed to initialize localization.")
+
+    # temporarily add a sleep because sometimes the route is not generated correctly without it.
+    # Need to consider a proper solution.
+    time.sleep(2)
+
+    route_client = RoutePointsClient()
+    future_route = route_client.send_request(last_pose)
+    rclpy.spin_until_future_complete(route_client, future_route)
+    if future_route.result() is not None:
+        print("Successfully set route points.")
+    else:
+        print("Failed to set route points.")
+
+
 class StopWatch:
     def __init__(self, verbose):
         # A dictionary to store the starting times
@@ -155,3 +260,52 @@ def toc(self, name):
 
         # Reset the starting time for the name
         del self.start_times[name]
+
+
+class LocalizationInitializer(Node):
+    def __init__(self):
+        super().__init__("localization_initializer")
+        self.callback_group = ReentrantCallbackGroup()
+        self.client = self.create_client(
+            InitializeLocalization,
+            "/localization/initialize",
+            callback_group=self.callback_group,
+        )
+        while not self.client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info("Waiting for '/localization/initialize' service...")
+
+    def create_initial_pose(self, pose: Pose) -> PoseWithCovarianceStamped:
+        pose_with_cov_stamped = PoseWithCovarianceStamped()
+        pose_with_cov_stamped.header.frame_id = "map"
+        pose_with_cov_stamped.header.stamp = self.get_clock().now().to_msg()
+        pose_with_cov = PoseWithCovariance()
+        pose_with_cov.pose = pose
+        covariance = np.identity(6) * 0.01  # Create a 6x6 identity matrix scaled by 0.01
+        pose_with_cov.covariance = covariance.flatten().tolist()
+        pose_with_cov_stamped.pose = pose_with_cov
+        return pose_with_cov_stamped
+
+    def send_initial_pose(self, pose: Pose):
+        request = InitializeLocalization.Request()
+        request.pose_with_covariance = [self.create_initial_pose(pose)]
+        request.method = 1
+        self.get_logger().info("Sending initial pose request...")
+        return self.client.call_async(request)
+
+
+class RoutePointsClient(Node):
+    def __init__(self):
+        super().__init__("route_points_client")
+        self.client = self.create_client(SetRoutePoints, "/api/routing/set_route_points")
+        while not self.client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info("Waiting for '/api/routing/set_route_points' service...")
+
+    def send_request(self, goal_pose: Pose):
+        request = SetRoutePoints.Request()
+        request.header = Header()
+        request.header.stamp = self.get_clock().now().to_msg()
+        request.header.frame_id = "map"
+        request.goal = goal_pose
+        request.waypoints = []
+        self.get_logger().info("Sending route points request...")
+        return self.client.call_async(request)