diff --git a/docs/developer_guide/Communication.md b/docs/developer_guide/Communication.md
index 48d22522178..1000197d55e 100644
--- a/docs/developer_guide/Communication.md
+++ b/docs/developer_guide/Communication.md
@@ -23,8 +23,9 @@
 |------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------|
 | `/clock`                                                         | [`rcl_interfaces/msg/Clock`](https://github.com/ros2/rcl_interfaces/blob/master/rosgraph_msgs/msg/Clock.msg)                                                                   |                                                                                                                                                                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |                                                                                                                                                                       |
 | `/initialpose`                                                   | [`geometry_msgs/msg/PoseWithCovarianceStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseWithCovarianceStamped.msg)                         |                                                                                                                                                                       |
-| `/localization/kinematic_state`                                  | [`nav_msgs/msg/Odometry`](https://github.com/ros2/common_interfaces/blob/master/nav_msgs/msg/Odometry.msg)                                                                     |                                                                                                                                                                       |
-| `/localization/acceleration`                                     | [`geometry_msgs::msg::AccelWithCovarianceStamped`](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg)                    |                                                                                                                                                                       |
+| `/localization/kinematic_state`                                  | [`nav_msgs/msg/Odometry`](https://github.com/ros2/common_interfaces/blob/master/nav_msgs/msg/Odometry.msg)                                                                     | Available if option `simulate_localization` is `true` (default is `true`).                                                                                            |
+| `/localization/acceleration`                                     | [`geometry_msgs::msg::AccelWithCovarianceStamped`](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg)                    | Available if option `simulate_localization` is `true` (default is `true`).                                                                                            |
+| `/localization/pose_estimator/pose_with_covariance`              | [`geometry_msgs/msg/PoseWithCovarianceStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseWithCovarianceStamped.msg)                         | Available if option `simulate_localization` is `false` (default is `true`).                                                                                           |
 | `/planning/mission_planning/checkpoint`                          | [`geometry_msgs/msg/PoseStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseStamped.msg)                                                     |                                                                                                                                                                       |
 | `/planning/mission_planning/goal`                                | [`geometry_msgs/msg/PoseStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseStamped.msg)                                                     |                                                                                                                                                                       |
 | `/vehicle/status/control_mode`                                   | [`autoware_vehicle_msgs/msg/ControlModeReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/ControlModeReport.msg)                 |                                                                                                                                                                       |