diff --git a/perception/tensorrt_yolox/launch/multiple_yolox.launch.xml b/perception/tensorrt_yolox/launch/multiple_yolox.launch.xml
index 5959f73757de1..9de37c76e034b 100644
--- a/perception/tensorrt_yolox/launch/multiple_yolox.launch.xml
+++ b/perception/tensorrt_yolox/launch/multiple_yolox.launch.xml
@@ -27,43 +27,43 @@
   <arg name="output_topic" default="rois"/>
 
   <include if="$(eval &quot;'$(var image_number)'>='1'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
-    <arg name="input_topic" value="$(var image_raw0)"/>
-    <arg name="output_topic" value="rois0"/>
+    <arg name="input/image" value="$(var image_raw0)"/>
+    <arg name="output/objects" value="rois0"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw0)"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='2'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
-    <arg name="input_topic" value="$(var image_raw1)"/>
-    <arg name="output_topic" value="rois1"/>
+    <arg name="input/image" value="$(var image_raw1)"/>
+    <arg name="output/objects" value="rois1"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw1)"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='3'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
-    <arg name="input_topic" value="$(var image_raw2)"/>
-    <arg name="output_topic" value="rois2"/>
+    <arg name="input/image" value="$(var image_raw2)"/>
+    <arg name="output/objects" value="rois2"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw2)"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='4'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
-    <arg name="input_topic" value="$(var image_raw3)"/>
-    <arg name="output_topic" value="rois3"/>
+    <arg name="input/image" value="$(var image_raw3)"/>
+    <arg name="output/objects" value="rois3"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw3)"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='5'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
-    <arg name="input_topic" value="$(var image_raw4)"/>
-    <arg name="output_topic" value="rois4"/>
+    <arg name="input/image" value="$(var image_raw4)"/>
+    <arg name="output/objects" value="rois4"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw4)"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='6'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
-    <arg name="input_topic" value="$(var image_raw5)"/>
-    <arg name="output_topic" value="rois5"/>
+    <arg name="input/image" value="$(var image_raw5)"/>
+    <arg name="output/objects" value="rois5"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw5)"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='7'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
-    <arg name="input_topic" value="$(var image_raw6)"/>
-    <arg name="output_topic" value="rois6"/>
+    <arg name="input/image" value="$(var image_raw6)"/>
+    <arg name="output/objects" value="rois6"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw6)"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='8'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
-    <arg name="input_topic" value="$(var image_raw7)"/>
-    <arg name="output_topic" value="rois7"/>
+    <arg name="input/image" value="$(var image_raw7)"/>
+    <arg name="output/objects" value="rois7"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw7)"/>
   </include>
 </launch>