diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index 6acbe9783d..8d93a95b37 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -5,9 +5,6 @@
 
     traffic_light_signal_timeout: 1.0
 
-    groot_zmq_publisher_port: 1666
-    groot_zmq_server_port: 1667
-
     planning_hz: 10.0
     backward_path_length: 5.0
     forward_path_length: 300.0