diff --git a/simulator_launch/config/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml
similarity index 100%
rename from simulator_launch/config/fault_injection.param.yaml
rename to autoware_launch/config/simulator/fault_injection.param.yaml
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
new file mode 100644
index 0000000000..34b7258fbc
--- /dev/null
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="launch_dummy_perception"/>
+  <arg name="launch_dummy_vehicle"/>
+  <arg name="launch_dummy_localization"/>
+  <arg name="perception/enable_detection_failure"/>
+  <arg name="perception/enable_object_recognition"/>
+  <arg name="sensing/visible_range"/>
+  <arg name="vehicle_model"/>
+  <arg name="initial_engage_state"/>
+  <arg name="vehicle_info_param_file"/>
+
+  <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
+    <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
+    <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
+    <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
+    <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
+    <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+    <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+    <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
+
+    <arg name="fault_injection_param_path" value="$(find-pkg-share autoware_launch)/config/simulator/fault_injection.param.yaml"/>
+    <arg
+      name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
+    />
+  </include>
+</launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index ea118ff8ed..77e13311cc 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -60,7 +60,7 @@
     <let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
     <let name="launch_dummy_localization" value="true"/>
 
-    <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml">
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_simulator_component.launch.xml">
       <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
       <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
       <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
@@ -69,6 +69,7 @@
       <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     </include>
   </group>
 </launch>
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
index 76260f859c..07eb1b22e2 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -17,12 +17,12 @@
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
-  <exec_depend>simulator_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
   <exec_depend>tier4_localization_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>
   <exec_depend>tier4_perception_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
+  <exec_depend>tier4_simulator_launch</exec_depend>
   <exec_depend>tier4_vehicle_launch</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/simulator_launch/CMakeLists.txt b/simulator_launch/CMakeLists.txt
deleted file mode 100644
index 05e5c27e2b..0000000000
--- a/simulator_launch/CMakeLists.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(simulator_launch)
-
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_auto_package(INSTALL_TO_SHARE
-  launch
-  config
-)
diff --git a/simulator_launch/README.md b/simulator_launch/README.md
deleted file mode 100644
index d52b6c16a6..0000000000
--- a/simulator_launch/README.md
+++ /dev/null
@@ -1,15 +0,0 @@
-# simulator_launch
-
-## Structure
-
-![simulator_launch](./simulator_launch.drawio.svg)
-
-## Package Dependencies
-
-Please see `<exec_depend>` in `package.xml`.
-
-## Usage
-
-```xml
-  <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml"/>
-```
diff --git a/simulator_launch/package.xml b/simulator_launch/package.xml
deleted file mode 100644
index 03d415a7a8..0000000000
--- a/simulator_launch/package.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>simulator_launch</name>
-  <version>0.1.0</version>
-  <description>The simulator_launch package</description>
-
-  <maintainer email="keisuke.shima@tier4.jp">Keisuke Shima</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <exec_depend>dummy_perception_publisher</exec_depend>
-  <exec_depend>fault_injection</exec_depend>
-  <exec_depend>simple_planning_simulator</exec_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>autoware_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/simulator_launch/simulator_launch.drawio.svg b/simulator_launch/simulator_launch.drawio.svg
deleted file mode 100644
index d86b068066..0000000000
--- a/simulator_launch/simulator_launch.drawio.svg
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!-- Do not edit this file with editors other than diagrams.net -->
-<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="999px" height="617px" viewBox="-0.5 -0.5 999 617" content="&lt;mxfile host=&quot;Electron&quot; modified=&quot;2021-10-21T09:43:55.335Z&quot; agent=&quot;5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/15.4.0 Chrome/91.0.4472.164 Electron/13.5.0 Safari/537.36&quot; etag=&quot;AvkJq83tqgmO_1IDn31r&quot; version=&quot;15.4.0&quot; type=&quot;device&quot;&gt;&lt;diagram id=&quot;hw8opUG3N7cuFXbovIOC&quot; name=&quot;ページ1&quot;&gt;7Vpbc9o4FP41zOw+hMFX7EdC0nS23dndSSeb9IURtsBqZMuVZQL99SuDZFuWIRQMJduGh1hH1sXn+85Nds8ax8s7CtLoTxJC3DMH4bJn3fRM07Aci/8rJKuNxLOFYE5RKG6qBPfoGxTCgZDmKISZciMjBDOUqsKAJAkMmCIDlJIX9bYZweqqKZhDTXAfAKxL/0Uhi8RTmMNK/h6ieSRXNlx/0xMDebN4kiwCIXmpiazbnjWmhLDNVbwcQ1woT+plM+7dlt5yYxQmbJ8B9/bD+M6OYuP58+NoePf+IU/xlSumydhKPjEMuQJEk1AWkTlJAL6tpNeU5EkIi2kHvFXd85GQlAsNLvwCGVsJNEHOCBdFLMaiFy4Re6xdPxVT9R3RulmKmdeNlWwkjK4e643aqKJZDVu35DhdTfKRSU4D8cymYBagc8h2qUtgWeioNplQ+B0kMeRr8xsoxIChhUoiILg4L++r4OIXArF29Mb2Z0A/fXDiD1+fZvbI+yOPH64c/yj0jLeCXkPdh8BpOmcCSqy9ADgXk2YozvkihPYxyJMg6i+5Kk0X851dTym/mrP1k26ThGjRFGUpSKQsBcHz2omNCi3ItSabteQAvuv6mJpYmb1BJtXQXyLE4D1fruh94e5epcUMYTwmmND1WCsIoDObFXtllDzDWo/lWr4VFiNIwmrywaj4cfkCUoa4Cx5hNE94X4zCcE1dIAQBBx/SXcZdTAGXvV0mKgKS4Qmbfqncu+EIWaS49sHx7LA0dsxAjtkEJV949EIkOYYjNejcr3kRV665EtiVUFvBDwxnrOptpVBjQ5dJlfXfkQQQvbYvcP0hhJBzqP4ixXCSYpAkKJlPOvEfB3NjH5fTvt035Xskobb6ng6YNrRVptmOzjSzjWme0wHRhhrRdiYPCUn+p7meo2cHjt11XieG/k0Q30rJAMtrMMA1+w1sN1sV4xrwlhvZD3FfQ/wT5VdtqH8EU164KcBpwXaraVCYoW9gup6vgCEtNr9+HOe659wIaxMMMZx2oCQ9m9ZUlnZigV69emqzskHfdHxPdemb1pHgXRl226xyAjKbZfBYzCQ5FSu1f1sAutZNhALuaoWH5cH5d91tRiSe5tnrLrMDf1butvRnJZvrsdNv82hd5FJncmDSGRkdOaNTOxm/kdC4xnBPJ3PIVBs32oW/svTkWBYxgwTE8IJyHtlQN/amEp0O7N9Tzd84ayFla2QpNj3S1FsgrupQ1ZVwE3XFCtH+AbANNBXWWgC0O9K+2TBNXft2i/LNDnTv6DVLQsKmNfwy09LooBE6cNhmpr47tIB7WjM1h40C95x26uh2WiU0GTctQBG5mIzGHjYrtLNmNE5b9nfOFOc7661DarutKNVrNMmaeo0m2Xjq9Ml1GxzwB4emT0OjOZV5quTJcTXqvAM4u9BqryT6z13tOXqFTlgE6a9Iui2S8jjqhXZbJPXMqeWeOJKWB3Y/IpK2v5A0NQZtPeM59UvdA4PIHmdDeoDY+Xa2HjWsroPGcXDpmfMFZ0PN8x3DP2MuFOV48Vfu/3NjPpnTFX4MjWe3XX9NqifhqPjwowhmGGQZCnqtB9JVovJU6+n2QFp91/66EZ7WFtpVau5pITXQ23yclB0Zdr3GiZNl+AcfXtmvTtVd/tWuW2lybyIp221xR2dqV4O+ZZt+NyxRkfVOkJvtNJYaoGEex6tJCjkl08JlT9J8ilHGs7jLfF27fb8/6zFm8wMAy9TTulaXZwy+P87xZvXJ34aW1YeT1u1/&lt;/diagram&gt;&lt;/mxfile&gt;"><defs/><g><path d="M 150 225 L 218.63 225" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 223.88 225 L 216.88 228.5 L 218.63 225 L 216.88 221.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><path d="M 150 225 L 177.5 225 Q 187.5 225 187.5 235 L 187.5 472.5 Q 187.5 482.5 197.5 482.5 L 218.63 482.5" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 223.88 482.5 L 216.88 486 L 218.63 482.5 L 216.88 479 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><rect x="0" y="170" width="150" height="110" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">node name<br /><br /><div style="text-align: left"><span>package: package name</span></div></div></div></div></foreignObject><text x="345" y="59" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">node name...</text></switch></g><path d="M 565 442.5 L 660 482.5 L 565 522.5 L 470 482.5 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 188px; height: 1px; padding-top: 483px; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 225px; margin-left: 453px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 15px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">True</div></div></div></foreignObject><text x="453" y="230" fill="#000000" font-family="Helvetica" font-size="15px" text-anchor="middle">True</text></switch></g><path d="M 320 185 L 415 225 L 320 265 L 225 225 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 361px; margin-left: 401px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 15px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">False</div></div></div></foreignObject><text x="401" y="365" fill="#000000" font-family="Helvetica" font-size="15px" text-anchor="middle">False</text></switch></g><rect x="490" y="310" width="250" height="100" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 248px; height: 1px; padding-top: 360px; margin-left: 491px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">dummy_perception_publisher.launch.xml<br /><br /><div style="text-align: left"><span>package: dummy_perception_publisher</span></div></div></div></div></foreignObject><text x="615" y="364" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">dummy_perception_publisher.launch.xml...</text></switch></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Viewer does not support full SVG 1.1</text></a></switch></svg>
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