diff --git a/perception/simple_object_merger/CMakeLists.txt b/perception/simple_object_merger/CMakeLists.txt
index 77b10c0afb87a..10bd0efa7b8fc 100644
--- a/perception/simple_object_merger/CMakeLists.txt
+++ b/perception/simple_object_merger/CMakeLists.txt
@@ -25,5 +25,6 @@ endif()
 # Package
 ament_auto_package(
   INSTALL_TO_SHARE
+  config
   launch
 )
diff --git a/perception/simple_object_merger/README.md b/perception/simple_object_merger/README.md
index 4c037963361a1..ec3c03424da52 100644
--- a/perception/simple_object_merger/README.md
+++ b/perception/simple_object_merger/README.md
@@ -72,5 +72,19 @@ If the time difference between the first topic of `input_topics` and an input to
   - Default parameter: "[]"
 
 This parameter is the name of input topics.
-For example, when this packages use for radar objects, `"[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/rear_left/detected_objects, /sensing/radar/rear_center/detected_objects, /sensing/radar/rear_right/detected_objects, /sensing/radar/front_right/detected_objects]"` can be set.
+For example, when this packages use for radar objects,
+
+```yaml
+input_topics:
+  [
+    "/sensing/radar/front_center/detected_objects",
+    "/sensing/radar/front_left/detected_objects",
+    "/sensing/radar/rear_left/detected_objects",
+    "/sensing/radar/rear_center/detected_objects",
+    "/sensing/radar/rear_right/detected_objects",
+    "/sensing/radar/front_right/detected_objects",
+  ]
+```
+
+can be set in config yaml file.
 For now, the time difference is calculated by the header time between the first topic of `input_topics` and the input topics, so the most important objects to detect should be set in the first of `input_topics` list.
diff --git a/perception/simple_object_merger/config/simple_object_merger.param.yaml b/perception/simple_object_merger/config/simple_object_merger.param.yaml
new file mode 100644
index 0000000000000..b285a3110d22d
--- /dev/null
+++ b/perception/simple_object_merger/config/simple_object_merger.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    update_rate_hz: 20.0
+    new_frame_id: "base_link"
+    timeout_threshold: 1.0
+    input_topics: [""]
diff --git a/perception/simple_object_merger/launch/simple_object_merger.launch.xml b/perception/simple_object_merger/launch/simple_object_merger.launch.xml
index ccd038c23b257..43e22ea081feb 100644
--- a/perception/simple_object_merger/launch/simple_object_merger.launch.xml
+++ b/perception/simple_object_merger/launch/simple_object_merger.launch.xml
@@ -1,18 +1,9 @@
 <launch>
-  <!-- Output -->
   <arg name="output/objects" default="~/output/objects"/>
-  <!-- Parameter -->
-  <arg name="update_rate_hz" default="20.0"/>
-  <arg name="new_frame_id" default="base_link"/>
-  <arg name="timeout_threshold" default="0.1"/>
-  <arg name="input_topics" default="[]"/>
+  <arg name="param_path" default="$(find-pkg-share simple_object_merger)/config/simple_object_merger.param.yaml"/>
 
-  <!-- Node -->
   <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
     <remap from="~/output/objects" to="$(var output/objects)"/>
-    <param name="update_rate_hz" value="$(var update_rate_hz)"/>
-    <param name="timeout_threshold" value="$(var timeout_threshold)"/>
-    <param name="new_frame_id" value="$(var new_frame_id)"/>
-    <param name="input_topics" value="$(var input_topics)"/>
+    <param from="$(var param_path)"/>
   </node>
 </launch>