diff --git a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/behavior/action_node_base.hpp b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/behavior/action_node_base.hpp
index c1d000c4d17..a12733f2339 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/behavior/action_node_base.hpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/behavior/action_node_base.hpp
@@ -30,7 +30,7 @@
 #include <traffic_simulator/entity/entity_base.hpp>
 #include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
 #include <traffic_simulator/helper/stop_watch.hpp>
-#include <traffic_simulator/traffic_lights/traffic_light_manager.hpp>
+#include <traffic_simulator/traffic_lights/traffic_lights.hpp>
 #include <traffic_simulator_msgs/msg/obstacle.hpp>
 #include <traffic_simulator_msgs/msg/waypoints_array.hpp>
 #include <unordered_map>
@@ -56,7 +56,8 @@ class ActionNodeBase : public BT::ActionNodeBase
    */
   static BT::PortsList providedPorts()
   {
-    return {// clang-format off
+    return {
+      // clang-format off
       BT::InputPort<std::shared_ptr<constraints::ConstraintActivatorBase>>("activator"),
       BT::InputPort<traffic_simulator::behavior::Request>("request"),
       BT::InputPort<std::shared_ptr<hdmap_utils::HdMapUtils>>("hdmap_utils"),
@@ -73,7 +74,7 @@ class ActionNodeBase : public BT::ActionNodeBase
       BT::OutputPort<traffic_simulator::behavior::Request>("request"),
       BT::InputPort<entity_behavior::EntityStatusDict>("other_entity_status"),
       BT::InputPort<std::vector<lanelet::Id>>("route_lanelets"),
-      BT::InputPort<std::shared_ptr<traffic_simulator::TrafficLightManager>>("traffic_light_manager"),
+      BT::InputPort<std::shared_ptr<traffic_simulator::TrafficLights>>("traffic_lights"),
       BT::OutputPort<std::shared_ptr<hdmap_utils::HdMapUtils>>("hdmap_utils"),
       BT::OutputPort<std::optional<traffic_simulator_msgs::msg::Obstacle>>("obstacle"),
       BT::OutputPort<traffic_simulator_msgs::msg::WaypointsArray>("waypoints")};
@@ -89,7 +90,7 @@ class ActionNodeBase : public BT::ActionNodeBase
   std::shared_ptr<constraints::ConstraintActivatorBase> activator;
   traffic_simulator::behavior::Request request;
   std::shared_ptr<hdmap_utils::HdMapUtils> hdmap_utils;
-  std::shared_ptr<traffic_simulator::TrafficLightManager> traffic_light_manager;
+  std::shared_ptr<traffic_simulator::TrafficLights> traffic_lights;
   std::shared_ptr<traffic_simulator::CanonicalizedEntityStatus> entity_status;
   double current_time;
   double step_time;
diff --git a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/constraint_activator_base.hpp b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/constraint_activator_base.hpp
index 9511e824648..22c29382e33 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/constraint_activator_base.hpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/constraint_activator_base.hpp
@@ -23,7 +23,7 @@
 #include <geometry/spline/catmull_rom_subspline.hpp>
 #include <memory>
 #include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
-#include <traffic_simulator/traffic_lights/traffic_light_manager.hpp>
+#include <traffic_simulator/traffic_lights/traffic_lights.hpp>
 
 namespace context_gamma_planner
 {
@@ -62,7 +62,7 @@ class ConstraintActivatorBase
 public:
   ConstraintActivatorBase(
     const std::shared_ptr<hdmap_utils::HdMapUtils> hd_map_utils_ptr,
-    const std::shared_ptr<traffic_simulator::TrafficLightManager> traffic_light_manager_ptr);
+    const std::shared_ptr<traffic_simulator::TrafficLights> traffic_lights_ptr);
   const auto calculateRVOObstacles() -> std::vector<std::vector<RVO::Vector2> >;
   void deactivateAllConstraints();
   void appendRoadEdgeConstraint(const lanelet::Id lanelet_id, const State & state = State::ACTIVE);
@@ -96,7 +96,7 @@ class ConstraintActivatorBase
   std::vector<RoadEdgeConstraint> queryRoadEdgeConstraint(
     const geometry_msgs::msg::Point & p, double distance_threashold, const char subtype[]);
   std::shared_ptr<hdmap_utils::HdMapUtils> hd_map_utils_ptr_;
-  std::shared_ptr<traffic_simulator::TrafficLightManager> traffic_light_manager_ptr_;
+  std::shared_ptr<traffic_simulator::TrafficLights> traffic_lights_ptr_;
   std::vector<std::string> lanelet_subtypes_;
   std::vector<TrafficLightConstraint> traffic_light_constraints_;
   std::vector<RoadEdgeConstraint> lane_constraints_;
diff --git a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/pedestrian/constraint_activator.hpp b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/pedestrian/constraint_activator.hpp
index edc9e0c1af1..c32d7102fd5 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/pedestrian/constraint_activator.hpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/pedestrian/constraint_activator.hpp
@@ -21,7 +21,7 @@
 #include <geometry/spline/catmull_rom_subspline.hpp>
 #include <memory>
 #include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
-#include <traffic_simulator/traffic_lights/traffic_light_manager.hpp>
+#include <traffic_simulator/traffic_lights/traffic_lights.hpp>
 
 namespace context_gamma_planner
 {
@@ -34,7 +34,7 @@ class ConstraintActivator : public context_gamma_planner::constraints::Constrain
 public:
   ConstraintActivator(
     const std::shared_ptr<hdmap_utils::HdMapUtils> hd_map_utils_ptr,
-    const std::shared_ptr<traffic_simulator::TrafficLightManager> traffic_light_manager_ptr);
+    const std::shared_ptr<traffic_simulator::TrafficLights> traffic_lights_ptr);
 };
 }  // namespace constraints
 }  // namespace pedestrian
diff --git a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/vehicle/constraint_activator.hpp b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/vehicle/constraint_activator.hpp
index de840cb8a33..15d985516ce 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/vehicle/constraint_activator.hpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/constraints/vehicle/constraint_activator.hpp
@@ -21,7 +21,7 @@
 #include <geometry/spline/catmull_rom_subspline.hpp>
 #include <memory>
 #include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
-#include <traffic_simulator/traffic_lights/traffic_light_manager.hpp>
+#include <traffic_simulator/traffic_lights/traffic_lights.hpp>
 
 namespace context_gamma_planner
 {
@@ -34,7 +34,7 @@ class ConstraintActivator : public context_gamma_planner::constraints::Constrain
 public:
   ConstraintActivator(
     const std::shared_ptr<hdmap_utils::HdMapUtils> hd_map_utils_ptr,
-    const std::shared_ptr<traffic_simulator::TrafficLightManager> traffic_light_manager_ptr);
+    const std::shared_ptr<traffic_simulator::TrafficLights> traffic_lights_ptr);
   /// @param stop_velocity_threshold [m/s]  Set a small value since a complete stop is not possible.
   void appendStopLineConstraint(
     const lanelet::Ids & route_ids,
diff --git a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/mock/catalogs.hpp b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/mock/catalogs.hpp
new file mode 100644
index 00000000000..ad27141c7f6
--- /dev/null
+++ b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/mock/catalogs.hpp
@@ -0,0 +1,97 @@
+// Copyright 2015 TIER IV, Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef CONTEXT_GAMMA_PLANNER__MOCK__CATALOGS_HPP_
+#define CONTEXT_GAMMA_PLANNER__MOCK__CATALOGS_HPP_
+
+#include <string>
+#include <traffic_simulator_msgs/msg/misc_object_parameters.hpp>
+#include <traffic_simulator_msgs/msg/pedestrian_parameters.hpp>
+#include <traffic_simulator_msgs/msg/vehicle_parameters.hpp>
+
+namespace context_gamma_planner
+{
+namespace mock
+{
+class Catalogs
+{
+public:
+  /**
+   * @brief Get the default vehicle parameters.
+   * @return traffic_simulator_msgs::msg::VehicleParameters The vehicle parameters.
+   */
+  auto getVehicleParameters() const -> traffic_simulator_msgs::msg::VehicleParameters
+  {
+    traffic_simulator_msgs::msg::VehicleParameters parameters;
+    parameters.name = "vehicle.volkswagen.t";
+    parameters.subtype.value = traffic_simulator_msgs::msg::EntitySubtype::CAR;
+    parameters.performance.max_speed = 69.444;
+    parameters.performance.max_acceleration = 200;
+    parameters.performance.max_deceleration = 10.0;
+    parameters.bounding_box.center.x = 1.5;
+    parameters.bounding_box.center.y = 0.0;
+    parameters.bounding_box.center.z = 0.9;
+    parameters.bounding_box.dimensions.x = 4.5;
+    parameters.bounding_box.dimensions.y = 1.7;
+    parameters.bounding_box.dimensions.z = 1.8;
+    parameters.axles.front_axle.max_steering = 0.5;
+    parameters.axles.front_axle.wheel_diameter = 0.6;
+    parameters.axles.front_axle.track_width = 1.8;
+    parameters.axles.front_axle.position_x = 3.1;
+    parameters.axles.front_axle.position_z = 0.3;
+    parameters.axles.rear_axle.max_steering = 0.0;
+    parameters.axles.rear_axle.wheel_diameter = 0.6;
+    parameters.axles.rear_axle.track_width = 1.8;
+    parameters.axles.rear_axle.position_x = 0.0;
+    parameters.axles.rear_axle.position_z = 0.3;
+    return parameters;
+  }
+
+  /**
+   * @brief Get the default pedestrian parameters.
+   * @return traffic_simulator_msgs::msg::PedestrianParameters The pedestrian parameters.
+   */
+  auto getPedestrianParameters() const -> traffic_simulator_msgs::msg::PedestrianParameters
+  {
+    traffic_simulator_msgs::msg::PedestrianParameters parameters;
+    parameters.name = "pedestrian";
+    parameters.subtype.value = traffic_simulator_msgs::msg::EntitySubtype::PEDESTRIAN;
+    parameters.bounding_box.center.x = 0.0;
+    parameters.bounding_box.center.y = 0.0;
+    parameters.bounding_box.center.z = 0.5;
+    parameters.bounding_box.dimensions.x = 1.0;
+    parameters.bounding_box.dimensions.y = 1.0;
+    parameters.bounding_box.dimensions.z = 2.0;
+    return parameters;
+  }
+
+  /**
+   * @brief Get the default parameters of a miscellaneous object.
+   * @return traffic_simulator_msgs::msg::MiscObjectParameters The parameters of the miscellaneous object.
+   */
+  auto getMiscObjectParameters() const -> traffic_simulator_msgs::msg::MiscObjectParameters
+  {
+    traffic_simulator_msgs::msg::MiscObjectParameters misc_object_param;
+    misc_object_param.bounding_box.dimensions.x = 1.0;
+    misc_object_param.bounding_box.dimensions.y = 1.0;
+    misc_object_param.bounding_box.dimensions.z = 1.0;
+    misc_object_param.subtype.value = traffic_simulator_msgs::msg::EntitySubtype::UNKNOWN;
+    misc_object_param.name = "obstacle";
+    return misc_object_param;
+  }
+};
+}  // namespace mock
+}  // namespace context_gamma_planner
+
+#endif  // CONTEXT_GAMMA_PLANNER__MOCK__CATALOGS_HPP_
\ No newline at end of file
diff --git a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/pedestrian_plugin.hpp b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/pedestrian_plugin.hpp
index ec408c4d9cf..d40cefc98e3 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/pedestrian_plugin.hpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/pedestrian_plugin.hpp
@@ -66,7 +66,7 @@ class PedestrianPlugin : public entity_behavior::BehaviorPluginBase
   DEFINE_GETTER_SETTER(ReferenceTrajectory,  std::shared_ptr<math::geometry::CatmullRomSpline>)
   DEFINE_GETTER_SETTER(StepTime,             double)
   DEFINE_GETTER_SETTER(TargetSpeed,          std::optional<double>)
-  DEFINE_GETTER_SETTER(TrafficLightManager,  std::shared_ptr<traffic_simulator::TrafficLightManager>)
+  DEFINE_GETTER_SETTER(TrafficLights,  std::shared_ptr<traffic_simulator::TrafficLights>)
   DEFINE_GETTER_SETTER(VehicleParameters,    traffic_simulator_msgs::msg::VehicleParameters)
   DEFINE_GETTER_SETTER(Waypoints,            traffic_simulator_msgs::msg::WaypointsArray)
   DEFINE_GETTER_SETTER(GoalPoses,            std::vector<geometry_msgs::msg::Pose>)
diff --git a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/vehicle_plugin.hpp b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/vehicle_plugin.hpp
index cf3a82e2acf..82c71dc5afc 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/vehicle_plugin.hpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/include/context_gamma_planner/vehicle_plugin.hpp
@@ -65,7 +65,7 @@ class VehiclePlugin : public entity_behavior::BehaviorPluginBase
   DEFINE_GETTER_SETTER(ReferenceTrajectory,  std::shared_ptr<math::geometry::CatmullRomSpline>)
   DEFINE_GETTER_SETTER(StepTime,             double)
   DEFINE_GETTER_SETTER(TargetSpeed,          std::optional<double>)
-  DEFINE_GETTER_SETTER(TrafficLightManager,  std::shared_ptr<traffic_simulator::TrafficLightManager>)
+  DEFINE_GETTER_SETTER(TrafficLights,  std::shared_ptr<traffic_simulator::TrafficLights>)
   DEFINE_GETTER_SETTER(VehicleParameters,    traffic_simulator_msgs::msg::VehicleParameters)
   DEFINE_GETTER_SETTER(Waypoints,            traffic_simulator_msgs::msg::WaypointsArray)
   DEFINE_GETTER_SETTER(GoalPoses,            std::vector<geometry_msgs::msg::Pose>)
diff --git a/simulation/context_gamma_planner/context_gamma_planner/src/constraints/constraint_activator_base.cpp b/simulation/context_gamma_planner/context_gamma_planner/src/constraints/constraint_activator_base.cpp
index 8e1a55b83f6..5ba89c4fa70 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/src/constraints/constraint_activator_base.cpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/src/constraints/constraint_activator_base.cpp
@@ -21,9 +21,9 @@ namespace constraints
 {
 ConstraintActivatorBase::ConstraintActivatorBase(
   const std::shared_ptr<hdmap_utils::HdMapUtils> hd_map_utils_ptr,
-  const std::shared_ptr<traffic_simulator::TrafficLightManager> traffic_light_manager_ptr)
+  const std::shared_ptr<traffic_simulator::TrafficLights> traffic_lights_ptr)
 : hd_map_utils_ptr_(hd_map_utils_ptr),
-  traffic_light_manager_ptr_(traffic_light_manager_ptr),
+  traffic_lights_ptr_(traffic_lights_ptr),
   is_stoped_(false)
 {
   for (const auto & id : hd_map_utils_ptr_->getLaneletIds()) {
diff --git a/simulation/context_gamma_planner/context_gamma_planner/src/constraints/pedestrian/constraint_activator.cpp b/simulation/context_gamma_planner/context_gamma_planner/src/constraints/pedestrian/constraint_activator.cpp
index 08a7bf227c1..419cf5492f8 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/src/constraints/pedestrian/constraint_activator.cpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/src/constraints/pedestrian/constraint_activator.cpp
@@ -25,9 +25,9 @@ using State = context_gamma_planner::constraints::State;
 
 ConstraintActivator::ConstraintActivator(
   const std::shared_ptr<hdmap_utils::HdMapUtils> hd_map_utils_ptr,
-  const std::shared_ptr<traffic_simulator::TrafficLightManager> traffic_light_manager_ptr)
+  const std::shared_ptr<traffic_simulator::TrafficLights> traffic_lights_ptr)
 : context_gamma_planner::constraints::ConstraintActivatorBase(
-    hd_map_utils_ptr, traffic_light_manager_ptr)
+    hd_map_utils_ptr, traffic_lights_ptr)
 {
 }
 
diff --git a/simulation/context_gamma_planner/context_gamma_planner/src/constraints/vehicle/constraint_activator.cpp b/simulation/context_gamma_planner/context_gamma_planner/src/constraints/vehicle/constraint_activator.cpp
index 81f8bce6858..77314da821c 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/src/constraints/vehicle/constraint_activator.cpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/src/constraints/vehicle/constraint_activator.cpp
@@ -26,9 +26,9 @@ using Side = context_gamma_planner::constraints::RoadEdgeConstraint::Side;
 
 ConstraintActivator::ConstraintActivator(
   const std::shared_ptr<hdmap_utils::HdMapUtils> hd_map_utils_ptr,
-  const std::shared_ptr<traffic_simulator::TrafficLightManager> traffic_light_manager_ptr)
+  const std::shared_ptr<traffic_simulator::TrafficLights> traffic_lights_ptr)
 : context_gamma_planner::constraints::ConstraintActivatorBase(
-    hd_map_utils_ptr, traffic_light_manager_ptr)
+    hd_map_utils_ptr, traffic_lights_ptr)
 {
   for (const auto & id : hd_map_utils_ptr_->getTrafficLightIds()) {
     const auto stop_line_ids = hd_map_utils_ptr_->getTrafficLightStopLineIds(id);
@@ -80,7 +80,7 @@ void ConstraintActivator::appendStopLineConstraint(
 void ConstraintActivator::appendTrafficLightConstraint(const lanelet::Ids & route_ids)
 {
   for (const auto & traffic_light_id : hd_map_utils_ptr_->getTrafficLightIdsOnPath(route_ids)) {
-    if (traffic_light_manager_ptr_->getTrafficLight(traffic_light_id)
+    if (traffic_lights_ptr_->getTrafficLight(traffic_light_id)
           .contains(
             traffic_simulator::TrafficLight::Color::green,
             traffic_simulator::TrafficLight::Status::solid_on,
diff --git a/simulation/context_gamma_planner/context_gamma_planner/src/pedestrian_plugin.cpp b/simulation/context_gamma_planner/context_gamma_planner/src/pedestrian_plugin.cpp
index b078665b043..b5136d6a7fd 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/src/pedestrian_plugin.cpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/src/pedestrian_plugin.cpp
@@ -135,7 +135,7 @@ void PedestrianPlugin::tryInitializeConstraintActivator()
   if (activator_ptr_ == nullptr) {
     activator_ptr_ =
       std::make_shared<context_gamma_planner::pedestrian::constraints::ConstraintActivator>(
-        getHdMapUtils(), getTrafficLightManager());
+        getHdMapUtils(), getTrafficLights());
     setConstraintActivator(activator_ptr_);
   }
 }
diff --git a/simulation/context_gamma_planner/context_gamma_planner/src/vehicle_plugin.cpp b/simulation/context_gamma_planner/context_gamma_planner/src/vehicle_plugin.cpp
index f177d86238a..75be91974ad 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/src/vehicle_plugin.cpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/src/vehicle_plugin.cpp
@@ -138,7 +138,7 @@ void VehiclePlugin::tryInitializeConstraintActivator()
   if (activator_ptr_ == nullptr) {
     activator_ptr_ =
       std::make_shared<context_gamma_planner::vehicle::constraints::ConstraintActivator>(
-        getHdMapUtils(), getTrafficLightManager());
+        getHdMapUtils(), getTrafficLights());
     setConstraintActivator(activator_ptr_);
   }
 }
diff --git a/simulation/context_gamma_planner/customized_rvo2_examples/CMakeLists.txt b/simulation/context_gamma_planner/customized_rvo2_examples/CMakeLists.txt
index 076e655d91a..5ccaf71b52c 100644
--- a/simulation/context_gamma_planner/customized_rvo2_examples/CMakeLists.txt
+++ b/simulation/context_gamma_planner/customized_rvo2_examples/CMakeLists.txt
@@ -75,7 +75,7 @@ if(BUILD_TESTING)
 endif()
 
 install(
-  DIRECTORY config launch
+  DIRECTORY launch
   DESTINATION share/${PROJECT_NAME})
 
 ament_auto_package()