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 559c307aa2fb1..c00c90d467090 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
@@ -108,7 +108,7 @@
     <!-- pointcloud_downsampling -->
     <let name="override_input_pointcloud" value="$(var input_pointcloud)"/>
     <let name="override_input_pointcloud" value="$(var input_pointcloud)/relay" if="$(var multi_localizer_mode)"/>
-    <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py" if="$(var use_ndt_pose)">
+    <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.xml" if="$(var use_ndt_pose)">
       <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
       <arg name="input_pointcloud" value="$(var override_input_pointcloud)"/>
     </include>
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py
deleted file mode 100644
index 22a45fe7b8530..0000000000000
--- a/launch/tier4_localization_launch/launch/util/util.launch.py
+++ /dev/null
@@ -1,136 +0,0 @@
-# Copyright 2020 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.
-
-import launch
-from launch.actions import DeclareLaunchArgument
-from launch.actions import OpaqueFunction
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-import yaml
-
-
-def launch_setup(context, *args, **kwargs):
-    # https://github.com/ros2/launch_ros/issues/156
-    def load_composable_node_param(param_path):
-        with open(LaunchConfiguration(param_path).perform(context), "r") as f:
-            return yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    crop_box_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
-        name="crop_box_filter_measurement_range",
-        remappings=[
-            ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", "measurement_range/pointcloud"),
-        ],
-        parameters=[
-            load_composable_node_param("crop_box_filter_measurement_range_param_path"),
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-    voxel_grid_downsample_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
-        name="voxel_grid_downsample_filter",
-        remappings=[
-            ("input", "measurement_range/pointcloud"),
-            ("output", "voxel_grid_downsample/pointcloud"),
-        ],
-        parameters=[load_composable_node_param("voxel_grid_downsample_filter_param_path")],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-    random_downsample_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent",
-        name="random_downsample_filter",
-        remappings=[
-            ("input", "voxel_grid_downsample/pointcloud"),
-            ("output", LaunchConfiguration("output/pointcloud")),
-        ],
-        parameters=[load_composable_node_param("random_downsample_filter_param_path")],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    composable_nodes = [
-        crop_box_component,
-        voxel_grid_downsample_component,
-        random_downsample_component,
-    ]
-
-    load_composable_nodes = LoadComposableNodes(
-        composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("lidar_container_name"),
-    )
-
-    return [load_composable_nodes]
-
-
-def generate_launch_description():
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None, description=None):
-        arg = DeclareLaunchArgument(name, default_value=default_value, description=description)
-        launch_arguments.append(arg)
-
-    add_launch_arg(
-        "crop_box_filter_measurement_range_param_path",
-        [
-            LaunchConfiguration("crop_box_filter_measurement_range_param_path"),
-        ],
-        "path to the parameter file of crop_box_filter_measurement_range",
-    )
-    add_launch_arg(
-        "voxel_grid_downsample_filter_param_path",
-        [
-            LaunchConfiguration("voxel_grid_downsample_filter_param_path"),
-        ],
-        "path to the parameter file of voxel_grid_downsample_filter",
-    )
-    add_launch_arg(
-        "random_downsample_filter_param_path",
-        [
-            LaunchConfiguration("random_downsample_filter_param_path"),
-        ],
-        "path to the parameter file of random_downsample_filter",
-    )
-    add_launch_arg("use_intra_process", "true", "use ROS 2 component container communication")
-    add_launch_arg(
-        "lidar_container_name",
-        "/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container",
-        "container name of main lidar used for localization",
-    )
-
-    add_launch_arg(
-        "output/pointcloud",
-        "downsample/pointcloud",
-        "final output topic name",
-    )
-    add_launch_arg(
-        "output_measurement_range_sensor_points_topic",
-        "measurement_range/pointcloud",
-        "output topic name for crop box filter",
-    )
-    add_launch_arg(
-        "output_voxel_grid_downsample_sensor_points_topic",
-        "voxel_grid_downsample/pointcloud",
-        "output topic name for voxel grid downsample filter",
-    )
-    add_launch_arg(
-        "output_downsample_sensor_points_topic",
-        "downsample/pointcloud",
-        "output topic name for downsample filter. this is final output",
-    )
-
-    return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.xml b/launch/tier4_localization_launch/launch/util/util.launch.xml
new file mode 100644
index 0000000000000..4d0f7505d16a6
--- /dev/null
+++ b/launch/tier4_localization_launch/launch/util/util.launch.xml
@@ -0,0 +1,33 @@
+<launch>
+  <!-- topic -->
+  <arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
+
+  <!-- container -->
+  <arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container" description="container name of main lidar used for localization"/>
+
+  <!-- whether use intra-process -->
+  <arg name="use_intra_process" default="true" description="use ROS 2 component container communication"/>
+
+  <load_composable_node target="$(var lidar_container_name)">
+    <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
+      <param from="$(var crop_box_filter_measurement_range_param_path)"/>
+      <remap from="input" to="$(var input_pointcloud)"/>
+      <remap from="output" to="measurement_range/pointcloud"/>
+      <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+    </composable_node>
+
+    <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent" name="voxel_grid_downsample_filter">
+      <param from="$(var voxel_grid_downsample_filter_param_path)"/>
+      <remap from="input" to="measurement_range/pointcloud"/>
+      <remap from="output" to="voxel_grid_downsample/pointcloud"/>
+      <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+    </composable_node>
+
+    <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent" name="random_downsample_filter">
+      <param from="$(var random_downsample_filter_param_path)"/>
+      <remap from="input" to="voxel_grid_downsample/pointcloud"/>
+      <remap from="output" to="$(var output/pointcloud)"/>
+      <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+    </composable_node>
+  </load_composable_node>
+</launch>