diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 01325d811..8a98cb5ea 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -10,9 +10,8 @@
-
-
-
+
+
diff --git a/autoware_launch/launch/global_params.launch.py b/autoware_launch/launch/global_params.launch.py
new file mode 100644
index 000000000..4763e5049
--- /dev/null
+++ b/autoware_launch/launch/global_params.launch.py
@@ -0,0 +1,52 @@
+# Copyright 2021 Tier IV, Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.actions import OpaqueFunction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import SetParameter
+from launch_ros.substitutions import FindPackageShare
+
+
+def launch_setup(context, *args, **kwargs):
+ # use_sim_time
+ set_use_sim_time = SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time'))
+
+ # vehicle_info
+ vehicle_description_pkg = FindPackageShare([
+ LaunchConfiguration('vehicle_model'), '_description']).perform(context)
+
+ load_vehicle_info = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ [FindPackageShare('vehicle_launch'), '/launch/vehicle_info.launch.py']
+ ),
+ launch_arguments={
+ 'config_file': [vehicle_description_pkg, '/config/vehicle_info.param.yaml']
+ }.items()
+ )
+
+ return [
+ set_use_sim_time,
+ load_vehicle_info,
+ ]
+
+
+def generate_launch_description():
+ return LaunchDescription([
+ DeclareLaunchArgument('use_sim_time', default_value='false'),
+ OpaqueFunction(function=launch_setup),
+ ])
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index ca1784889..456542c62 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -19,12 +19,11 @@
-
-
-
-
+
+
+
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index cc2b7e073..d443d49e0 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -15,15 +15,12 @@
-
-
-
-
-
+
+