diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
index 02c6da20e17da..1ba5bc9ecdb26 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
@@ -13,7 +13,7 @@
       <push-ros-namespace namespace="util"/>
       <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
         <arg name="ndt_enabled" value="true"/>
-        <arg name="gnss_enabled" value="true"/>
+        <arg name="gnss_enabled" value="false"/>
         <arg name="ekf_enabled" value="true"/>
         <arg name="yabloc_enabled" value="false"/>
         <arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
@@ -30,7 +30,7 @@
   </group>
 
   <!-- YabLoc Launch (as pose estimator) -->
-  <group if="$(eval &quot;'$(var pose_source)'=='yabloc'&quot;)">
+  <!-- <group if="$(eval &quot;'$(var pose_source)'=='yabloc'&quot;)">
     <group>
       <push-ros-namespace namespace="pose_estimator"/>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/yabloc.launch.xml"/>
@@ -50,7 +50,7 @@
         <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
       </group>
     </group>
-  </group>
+  </group> -->
 
   <!-- Gyro Odometer Launch (as pose estimator) -->
   <group if="$(eval &quot;'$(var twist_source)'=='gyro_odom'&quot;)">
@@ -59,7 +59,7 @@
   </group>
 
   <!-- Eagleye Launch (as pose & twist estimator) -->
-  <group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
+  <!-- <group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
     <group>
       <push-ros-namespace namespace="pose_twist_estimator"/>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
@@ -84,10 +84,10 @@
         <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
       </group>
     </group>
-  </group>
+  </group> -->
 
   <!-- Eagleye Launch (as pose estimator) -->
-  <group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'!='eagleye'&quot;)">
+  <!-- <group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'!='eagleye'&quot;)">
     <group>
       <push-ros-namespace namespace="pose_estimator"/>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
@@ -111,20 +111,20 @@
         <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
       </group>
     </group>
-  </group>
+  </group> -->
 
   <!-- Eagleye Launch (as twist estimator) -->
-  <group if="$(eval &quot;'$(var pose_source)'!='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
+  <!-- <group if="$(eval &quot;'$(var pose_source)'!='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
     <push-ros-namespace namespace="twist_estimator"/>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
       <arg name="output_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
       <arg name="use_eagleye_pose" value="false"/>
       <arg name="use_eagleye_twist" value="true"/>
     </include>
-  </group>
+  </group> -->
 
   <!-- AR Tag Based Localizer (as pose estimator) -->
-  <group if="$(eval &quot;'$(var pose_source)'=='artag'&quot;)">
+  <!-- <group if="$(eval &quot;'$(var pose_source)'=='artag'&quot;)">
     <group>
       <push-ros-namespace namespace="pose_estimator"/>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml"/>
@@ -148,5 +148,5 @@
         <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
       </include>
     </group>
-  </group>
+  </group> -->
 </launch>
diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
index c4de9c04dcaf2..d91ef7a6de52b 100644
--- a/launch/tier4_localization_launch/package.xml
+++ b/launch/tier4_localization_launch/package.xml
@@ -14,11 +14,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <exec_depend>ar_tag_based_localizer</exec_depend>
+  <!-- <exec_depend>ar_tag_based_localizer</exec_depend> -->
   <exec_depend>automatic_pose_initializer</exec_depend>
-  <exec_depend>eagleye_geo_pose_fusion</exec_depend>
-  <exec_depend>eagleye_gnss_converter</exec_depend>
-  <exec_depend>eagleye_rt</exec_depend>
   <exec_depend>ekf_localizer</exec_depend>
   <exec_depend>geo_pose_projector</exec_depend>
   <exec_depend>gyro_odometer</exec_depend>
@@ -27,11 +24,14 @@
   <exec_depend>pose_initializer</exec_depend>
   <exec_depend>pose_instability_detector</exec_depend>
   <exec_depend>topic_tools</exec_depend>
-  <exec_depend>yabloc_common</exec_depend>
-  <exec_depend>yabloc_image_processing</exec_depend>
-  <exec_depend>yabloc_monitor</exec_depend>
-  <exec_depend>yabloc_particle_filter</exec_depend>
-  <exec_depend>yabloc_pose_initializer</exec_depend>
+  <!-- <exec_depend>eagleye_geo_pose_fusion</exec_depend> -->
+  <!-- <exec_depend>eagleye_gnss_converter</exec_depend> -->
+  <!-- <exec_depend>eagleye_rt</exec_depend> -->
+  <!-- <exec_depend>yabloc_common</exec_depend> -->
+  <!-- <exec_depend>yabloc_image_processing</exec_depend> -->
+  <!-- <exec_depend>yabloc_monitor</exec_depend> -->
+  <!-- <exec_depend>yabloc_particle_filter</exec_depend> -->
+  <!-- <exec_depend>yabloc_pose_initializer</exec_depend> -->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index ab9ed65999048..094a611ea7778 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -35,9 +35,9 @@
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
 
   <!-- Camera-Lidar-Radar fusion based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
-    <!-- Camera-Lidar detectors -->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
+  <!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')"> -->
+  <!-- Camera-Lidar detectors -->
+  <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
@@ -63,14 +63,14 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
-    </include>
-    <!-- Lidar dnn-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
+    </include> -->
+  <!-- Lidar dnn-based detectors-->
+  <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-    </include>
-    <!-- Radar detector-->
-    <group>
+    </include> -->
+  <!-- Radar detector-->
+  <!-- <group>
       <push-ros-namespace namespace="radar"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
@@ -82,9 +82,9 @@
         <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
       </include>
-    </group>
-    <!-- Object merger -->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
+    </group> -->
+  <!-- Object merger -->
+  <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
       <arg name="image_raw1" value="$(var image_raw1)"/>
@@ -107,12 +107,12 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
-  </group>
+  </group> -->
 
   <!-- Camera-Lidar fusion based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
-    <!-- Camera-Lidar detectors -->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
+  <!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')"> -->
+  <!-- Camera-Lidar detectors -->
+  <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
@@ -138,14 +138,14 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
-    </include>
-    <!-- Lidar dnn-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
+    </include> -->
+  <!-- Lidar dnn-based detectors-->
+  <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-    </include>
-    <!-- Object merger -->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
+    </include> -->
+  <!-- Object merger -->
+  <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
       <arg name="image_raw1" value="$(var image_raw1)"/>
@@ -167,12 +167,12 @@
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
-  </group>
+  </group> -->
 
   <!-- Lidar-Radar fusion based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
-    <!-- Radar detector-->
-    <group>
+  <!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')"> -->
+  <!-- Radar detector-->
+  <!-- <group>
       <push-ros-namespace namespace="radar"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
@@ -180,33 +180,33 @@
         <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
       </include>
-    </group>
-    <!-- Lidar dnn-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
+    </group> -->
+  <!-- Lidar dnn-based detectors-->
+  <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-    </include>
-    <!-- Lidar rule-based detectors-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
+    </include> -->
+  <!-- Lidar rule-based detectors-->
+  <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    </include>
-    <!-- Lidar object merger -->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
+    </include> -->
+  <!-- Lidar object merger -->
+  <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
       <arg name="output/objects" value="lidar/objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
-    </include>
-    <!-- Lidar-Radar object merger-->
-    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
+    </include> -->
+  <!-- Lidar-Radar object merger-->
+  <!-- <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
       <arg name="input/objects" value="lidar/objects"/>
       <arg name="input/radars" value="radar/noise_filtered_objects"/>
       <arg name="output/objects" value="objects"/>
     </include>
-  </group>
+  </group> -->
 
   <!-- Lidar based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
@@ -231,13 +231,13 @@
   </group>
 
   <!-- Radar based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
-    <!-- Radar detector-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+  <!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')"> -->
+  <!-- Radar detector-->
+  <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
       <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
     </include>
-  </group>
+  </group> -->
 </launch>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 528038c5158b2..47c66c8f8a947 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -231,7 +231,7 @@
     </group>
 
     <!-- Traffic light module -->
-    <group if="$(var use_traffic_light_recognition)">
+    <!-- <group if="$(var use_traffic_light_recognition)">
       <push-ros-namespace namespace="traffic_light_recognition"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">
         <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
@@ -244,6 +244,6 @@
         <arg name="car_traffic_light_classifier_model_name" value="$(var car_traffic_light_classifier_model_name)"/>
         <arg name="pedestrian_traffic_light_classifier_model_name" value="$(var pedestrian_traffic_light_classifier_model_name)"/>
       </include>
-    </group>
+    </group> -->
   </group>
 </launch>
diff --git a/perception/map_based_prediction/CMakeLists.txt b/perception/map_based_prediction/CMakeLists.txt
index 9378e09f099cc..53c78b54bc2ab 100644
--- a/perception/map_based_prediction/CMakeLists.txt
+++ b/perception/map_based_prediction/CMakeLists.txt
@@ -6,8 +6,6 @@ autoware_package()
 
 find_package(Eigen3 REQUIRED)
 
-find_package(glog REQUIRED)
-
 include_directories(
   SYSTEM
     ${EIGEN3_INCLUDE_DIR}
@@ -19,8 +17,6 @@ ament_auto_add_library(map_based_prediction_node SHARED
   src/debug.cpp
 )
 
-target_link_libraries(map_based_prediction_node glog::glog)
-
 rclcpp_components_register_node(map_based_prediction_node
   PLUGIN "map_based_prediction::MapBasedPredictionNode"
   EXECUTABLE map_based_prediction
diff --git a/perception/map_based_prediction/package.xml b/perception/map_based_prediction/package.xml
index b07d9855f9821..6a1354b37928f 100644
--- a/perception/map_based_prediction/package.xml
+++ b/perception/map_based_prediction/package.xml
@@ -18,7 +18,6 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>interpolation</depend>
   <depend>lanelet2_extension</depend>
-  <depend>libgoogle-glog-dev</depend>
   <depend>motion_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp
index 75c1d61e0a19c..1b00325cda8ea 100644
--- a/perception/map_based_prediction/src/map_based_prediction_node.cpp
+++ b/perception/map_based_prediction/src/map_based_prediction_node.cpp
@@ -43,8 +43,6 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <chrono>
 #include <cmath>
@@ -728,8 +726,6 @@ void replaceObjectYawWithLaneletsYaw(
 MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_options)
 : Node("map_based_prediction", node_options), debug_accumulated_time_(0.0)
 {
-  google::InitGoogleLogging("map_based_prediction_node");
-  google::InstallFailureSignalHandler();
   enable_delay_compensation_ = declare_parameter<bool>("enable_delay_compensation");
   prediction_time_horizon_ = declare_parameter<double>("prediction_time_horizon");
   lateral_control_time_horizon_ =