diff --git a/planning/behavior_velocity_crosswalk_module/src/manager.cpp b/planning/behavior_velocity_crosswalk_module/src/manager.cpp
index 96e4e873ce111..30a1a81a1b50a 100644
--- a/planning/behavior_velocity_crosswalk_module/src/manager.cpp
+++ b/planning/behavior_velocity_crosswalk_module/src/manager.cpp
@@ -15,6 +15,7 @@
 #include "manager.hpp"
 
 #include <behavior_velocity_planner_common/utilization/util.hpp>
+#include <tier4_autoware_utils/ros/parameter.hpp>
 
 #include <limits>
 #include <memory>
@@ -26,86 +27,93 @@ namespace behavior_velocity_planner
 {
 
 using lanelet::autoware::Crosswalk;
+using tier4_autoware_utils::getOrDeclareParameter;
 
 CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
     node, getModuleName(),
-    node.declare_parameter<bool>(std::string(getModuleName()) + ".common.enable_rtc"))
+    getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".common.enable_rtc"))
 {
   const std::string ns(getModuleName());
 
   // for crosswalk parameters
   auto & cp = crosswalk_planner_param_;
-  cp.show_processing_time = node.declare_parameter<bool>(ns + ".common.show_processing_time");
+  cp.show_processing_time = getOrDeclareParameter<bool>(node, ns + ".common.show_processing_time");
 
   // param for input data
   cp.traffic_light_state_timeout =
-    node.declare_parameter<double>(ns + ".common.traffic_light_state_timeout");
+    getOrDeclareParameter<double>(node, ns + ".common.traffic_light_state_timeout");
 
   // param for stop position
   cp.stop_distance_from_crosswalk =
-    node.declare_parameter<double>(ns + ".stop_position.stop_distance_from_crosswalk");
+    getOrDeclareParameter<double>(node, ns + ".stop_position.stop_distance_from_crosswalk");
   cp.stop_distance_from_object =
-    node.declare_parameter<double>(ns + ".stop_position.stop_distance_from_object");
+    getOrDeclareParameter<double>(node, ns + ".stop_position.stop_distance_from_object");
   cp.far_object_threshold =
-    node.declare_parameter<double>(ns + ".stop_position.far_object_threshold");
+    getOrDeclareParameter<double>(node, ns + ".stop_position.far_object_threshold");
   cp.stop_position_threshold =
-    node.declare_parameter<double>(ns + ".stop_position.stop_position_threshold");
+    getOrDeclareParameter<double>(node, ns + ".stop_position.stop_position_threshold");
 
   // param for ego velocity
   cp.min_slow_down_velocity =
-    node.declare_parameter<double>(ns + ".slow_down.min_slow_down_velocity");
-  cp.max_slow_down_jerk = node.declare_parameter<double>(ns + ".slow_down.max_slow_down_jerk");
-  cp.max_slow_down_accel = node.declare_parameter<double>(ns + ".slow_down.max_slow_down_accel");
-  cp.no_relax_velocity = node.declare_parameter<double>(ns + ".slow_down.no_relax_velocity");
+    getOrDeclareParameter<double>(node, ns + ".slow_down.min_slow_down_velocity");
+  cp.max_slow_down_jerk = getOrDeclareParameter<double>(node, ns + ".slow_down.max_slow_down_jerk");
+  cp.max_slow_down_accel =
+    getOrDeclareParameter<double>(node, ns + ".slow_down.max_slow_down_accel");
+  cp.no_relax_velocity = getOrDeclareParameter<double>(node, ns + ".slow_down.no_relax_velocity");
 
   // param for stuck vehicle
   cp.stuck_vehicle_velocity =
-    node.declare_parameter<double>(ns + ".stuck_vehicle.stuck_vehicle_velocity");
+    getOrDeclareParameter<double>(node, ns + ".stuck_vehicle.stuck_vehicle_velocity");
   cp.max_stuck_vehicle_lateral_offset =
-    node.declare_parameter<double>(ns + ".stuck_vehicle.max_stuck_vehicle_lateral_offset");
+    getOrDeclareParameter<double>(node, ns + ".stuck_vehicle.max_stuck_vehicle_lateral_offset");
   cp.stuck_vehicle_attention_range =
-    node.declare_parameter<double>(ns + ".stuck_vehicle.stuck_vehicle_attention_range");
-  cp.min_acc_for_stuck_vehicle = node.declare_parameter<double>(ns + ".stuck_vehicle.min_acc");
-  cp.max_jerk_for_stuck_vehicle = node.declare_parameter<double>(ns + ".stuck_vehicle.max_jerk");
-  cp.min_jerk_for_stuck_vehicle = node.declare_parameter<double>(ns + ".stuck_vehicle.min_jerk");
+    getOrDeclareParameter<double>(node, ns + ".stuck_vehicle.stuck_vehicle_attention_range");
+  cp.min_acc_for_stuck_vehicle = getOrDeclareParameter<double>(node, ns + ".stuck_vehicle.min_acc");
+  cp.max_jerk_for_stuck_vehicle =
+    getOrDeclareParameter<double>(node, ns + ".stuck_vehicle.max_jerk");
+  cp.min_jerk_for_stuck_vehicle =
+    getOrDeclareParameter<double>(node, ns + ".stuck_vehicle.min_jerk");
 
   // param for pass judge logic
   cp.ego_pass_first_margin_x =
-    node.declare_parameter<std::vector<double>>(ns + ".pass_judge.ego_pass_first_margin_x");
+    getOrDeclareParameter<std::vector<double>>(node, ns + ".pass_judge.ego_pass_first_margin_x");
   cp.ego_pass_first_margin_y =
-    node.declare_parameter<std::vector<double>>(ns + ".pass_judge.ego_pass_first_margin_y");
+    getOrDeclareParameter<std::vector<double>>(node, ns + ".pass_judge.ego_pass_first_margin_y");
   cp.ego_pass_first_additional_margin =
-    node.declare_parameter<double>(ns + ".pass_judge.ego_pass_first_additional_margin");
+    getOrDeclareParameter<double>(node, ns + ".pass_judge.ego_pass_first_additional_margin");
   cp.ego_pass_later_margin_x =
-    node.declare_parameter<std::vector<double>>(ns + ".pass_judge.ego_pass_later_margin_x");
+    getOrDeclareParameter<std::vector<double>>(node, ns + ".pass_judge.ego_pass_later_margin_x");
   cp.ego_pass_later_margin_y =
-    node.declare_parameter<std::vector<double>>(ns + ".pass_judge.ego_pass_later_margin_y");
+    getOrDeclareParameter<std::vector<double>>(node, ns + ".pass_judge.ego_pass_later_margin_y");
   cp.ego_pass_later_additional_margin =
-    node.declare_parameter<double>(ns + ".pass_judge.ego_pass_later_additional_margin");
+    getOrDeclareParameter<double>(node, ns + ".pass_judge.ego_pass_later_additional_margin");
   cp.max_offset_to_crosswalk_for_yield =
-    node.declare_parameter<double>(ns + ".pass_judge.max_offset_to_crosswalk_for_yield");
+    getOrDeclareParameter<double>(node, ns + ".pass_judge.max_offset_to_crosswalk_for_yield");
   cp.stop_object_velocity =
-    node.declare_parameter<double>(ns + ".pass_judge.stop_object_velocity_threshold");
-  cp.min_object_velocity = node.declare_parameter<double>(ns + ".pass_judge.min_object_velocity");
+    getOrDeclareParameter<double>(node, ns + ".pass_judge.stop_object_velocity_threshold");
+  cp.min_object_velocity =
+    getOrDeclareParameter<double>(node, ns + ".pass_judge.min_object_velocity");
   cp.disable_stop_for_yield_cancel =
-    node.declare_parameter<bool>(ns + ".pass_judge.disable_stop_for_yield_cancel");
+    getOrDeclareParameter<bool>(node, ns + ".pass_judge.disable_stop_for_yield_cancel");
   cp.disable_yield_for_new_stopped_object =
-    node.declare_parameter<bool>(ns + ".pass_judge.disable_yield_for_new_stopped_object");
+    getOrDeclareParameter<bool>(node, ns + ".pass_judge.disable_yield_for_new_stopped_object");
   cp.timeout_no_intention_to_walk =
-    node.declare_parameter<double>(ns + ".pass_judge.timeout_no_intention_to_walk");
+    getOrDeclareParameter<double>(node, ns + ".pass_judge.timeout_no_intention_to_walk");
   cp.timeout_ego_stop_for_yield =
-    node.declare_parameter<double>(ns + ".pass_judge.timeout_ego_stop_for_yield");
+    getOrDeclareParameter<double>(node, ns + ".pass_judge.timeout_ego_stop_for_yield");
 
   // param for target area & object
   cp.crosswalk_attention_range =
-    node.declare_parameter<double>(ns + ".object_filtering.crosswalk_attention_range");
-  cp.look_unknown = node.declare_parameter<bool>(ns + ".object_filtering.target_object.unknown");
-  cp.look_bicycle = node.declare_parameter<bool>(ns + ".object_filtering.target_object.bicycle");
+    getOrDeclareParameter<double>(node, ns + ".object_filtering.crosswalk_attention_range");
+  cp.look_unknown =
+    getOrDeclareParameter<bool>(node, ns + ".object_filtering.target_object.unknown");
+  cp.look_bicycle =
+    getOrDeclareParameter<bool>(node, ns + ".object_filtering.target_object.bicycle");
   cp.look_motorcycle =
-    node.declare_parameter<bool>(ns + ".object_filtering.target_object.motorcycle");
+    getOrDeclareParameter<bool>(node, ns + ".object_filtering.target_object.motorcycle");
   cp.look_pedestrian =
-    node.declare_parameter<bool>(ns + ".object_filtering.target_object.pedestrian");
+    getOrDeclareParameter<bool>(node, ns + ".object_filtering.target_object.pedestrian");
 }
 
 void CrosswalkModuleManager::launchNewModules(const PathWithLaneId & path)