diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
index 5a79e29858725..cad24a0498925 100644
--- a/launch/tier4_localization_launch/package.xml
+++ b/launch/tier4_localization_launch/package.xml
@@ -23,11 +23,15 @@
   <exec_depend>autoware_geo_pose_projector</exec_depend>
   <exec_depend>autoware_gyro_odometer</exec_depend>
   <exec_depend>autoware_lidar_marker_localizer</exec_depend>
+  <exec_depend>autoware_localization_error_monitor</exec_depend>
   <exec_depend>autoware_ndt_scan_matcher</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
+  <exec_depend>autoware_pose_covariance_modifier</exec_depend>
   <exec_depend>autoware_pose_estimator_arbiter</exec_depend>
   <exec_depend>autoware_pose_initializer</exec_depend>
   <exec_depend>autoware_pose_instability_detector</exec_depend>
+  <exec_depend>autoware_stop_filter</exec_depend>
+  <exec_depend>autoware_twist2accel</exec_depend>
   <exec_depend>eagleye_geo_pose_fusion</exec_depend>
   <exec_depend>eagleye_gnss_converter</exec_depend>
   <exec_depend>eagleye_rt</exec_depend>
diff --git a/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
index 2e3b7f41787c8..320b9d30c9dd5 100644
--- a/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
+++ b/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
@@ -10,19 +10,19 @@
           "type": "number",
           "description": "voxel size along the x-axis [m]",
           "default": "1.0",
-          "minimum": 0
+          "exclusiveMinimum": 0.0
         },
         "voxel_size_y": {
           "type": "number",
           "description": "voxel size along the y-axis [m]",
           "default": "1.0",
-          "minimum": 0
+          "exclusiveMinimum": 0.0
         },
         "voxel_size_z": {
           "type": "number",
           "description": "voxel size along the z-axis [m]",
           "default": "1.0",
-          "minimum": 0
+          "exclusiveMinimum": 0.0
         }
       },
       "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"],
diff --git a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
index 0c467234d6591..996a7f8206728 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
@@ -90,6 +90,7 @@ void PickupBasedVoxelGridDownsampleFilterComponent::filter(
   // std::unordered_map<VoxelKey, size_t, VoxelKeyHash, VoxelKeyEqual> voxel_map;
   robin_hood::unordered_map<VoxelKey, size_t, VoxelKeyHash, VoxelKeyEqual> voxel_map;
 
+  if (input->data.empty()) return;
   voxel_map.reserve(input->data.size() / input->point_step);
 
   constexpr float large_num_offset = 100000.0;