diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 5d98c9388f..8948da6257 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -28,7 +28,7 @@
   <arg name="check_external_emergency_heartbeat" default="false"/>
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
-  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <arg name="pointcloud_map_file" default="pointcloud_map" description="pointcloud map file name ({FILE}.pcd file will be searched first, pcd files under {FILE} directory will be searched next)"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index fe8d1de1d8..1787f4a691 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -18,7 +18,7 @@
   <arg name="control" default="true" description="launch control"/>
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
-  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <arg name="pointcloud_map_file" default="pointcloud_map" description="pointcloud map file name ({FILE}.pcd file will be searched first, pcd files under {FILE} directory will be searched next)"/>
   <!-- Perception -->
   <arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/>
   <!-- Control -->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 7eb13135d3..b3fd947bb3 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -24,7 +24,7 @@
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
-  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <arg name="pointcloud_map_file" default="pointcloud_map" description="pointcloud map file name ({FILE}.pcd file will be searched first, pcd files under {FILE} directory will be searched next)"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index fdc86ebba7..7db0cda4c0 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -9,7 +9,7 @@
   <!-- Optional parameters -->
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
-  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <arg name="pointcloud_map_file" default="pointcloud_map" description="pointcloud map file name ({FILE}.pcd file will be searched first, pcd files under {FILE} directory will be searched next)"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>