diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index e6bbf391a0..f3a6f78063 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -72,7 +72,7 @@
       <!-- options for longitudinal_controller_mode: pid -->
       <arg name="longitudinal_controller_mode" value="pid" />
       <!-- Options for external emergency stop module. Heartbeat topic is required if this is true. -->
-      <arg name="use_external_emergency_stop" value="false" />
+      <arg name="check_external_emergency_heartbeat" value="false" />
     </include>
   </group>
 
diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
index 55f159ddf3..e2c69f208d 100644
--- a/control_launch/launch/control.launch.py
+++ b/control_launch/launch/control.launch.py
@@ -168,7 +168,9 @@ def launch_setup(context, *args, **kwargs):
             vehicle_cmd_gate_param,
             {
                 "use_emergency_handling": LaunchConfiguration("use_emergency_handling"),
-                "use_external_emergency_stop": LaunchConfiguration("use_external_emergency_stop"),
+                "check_external_emergency_heartbeat": LaunchConfiguration(
+                    "check_external_emergency_heartbeat"
+                ),
                 "use_start_request": LaunchConfiguration("use_start_request"),
             },
         ],
@@ -325,7 +327,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
 
     # vehicle cmd gate
     add_launch_arg("use_emergency_handling", "false", "use emergency handling")
-    add_launch_arg("use_external_emergency_stop", "true", "use external emergency stop")
+    add_launch_arg("check_external_emergency_heartbeat", "true", "use external emergency stop")
     add_launch_arg("use_start_request", "false", "use start request service")
 
     # external cmd selector
diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml
index ee4cd99d6e..f5d6696cc4 100644
--- a/control_launch/launch/control.launch.xml
+++ b/control_launch/launch/control.launch.xml
@@ -7,7 +7,7 @@
   <arg name="operation_mode_transition_manager_param_path" default="$(find-pkg-share control_launch)/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
   <arg name="shift_decider_param_path" default="$(find-pkg-share control_launch)/config/shift_decider/shift_decider.param.yaml"/>
   <arg name="initial_selector_mode" default="remote"/>
-  <arg name="use_external_emergency_stop" default="true"/>
+  <arg name="check_external_emergency_heartbeat" default="true"/>
 
   <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
     <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)" />
@@ -17,7 +17,7 @@
     <arg name="operation_mode_transition_manager_param_path" value="$(var operation_mode_transition_manager_param_path)"/>
     <arg name="shift_decider_param_path" value="$(var shift_decider_param_path)"/>
     <arg name="initial_selector_mode" value="$(var initial_selector_mode)"/>
-    <arg name="use_external_emergency_stop" value="$(var use_external_emergency_stop)"/>
+    <arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
   </include>
 
 </launch>