diff --git a/build_depends.repos b/build_depends.repos
index f7b3f12484015..5a12a67dbd346 100644
--- a/build_depends.repos
+++ b/build_depends.repos
@@ -41,3 +41,8 @@ repositories:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
     version: main
+  #vehicle
+  vehicle/sample_vehicle_launch:
+    type: git
+    url: https://github.com/autowarefoundation/sample_vehicle_launch.git
+    version: main
diff --git a/common/global_parameter_loader/CMakeLists.txt b/common/global_parameter_loader/CMakeLists.txt
index e67ae1a5c06fc..eaca44c515452 100644
--- a/common/global_parameter_loader/CMakeLists.txt
+++ b/common/global_parameter_loader/CMakeLists.txt
@@ -4,6 +4,11 @@ project(global_parameter_loader)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
+if(BUILD_TESTING)
+  file(GLOB_RECURSE test_files test/*.cpp)
+  ament_add_ros_isolated_gtest(test_global_params_launch ${test_files})
+endif()
+
 ament_auto_package(
   INSTALL_TO_SHARE
     launch
diff --git a/common/global_parameter_loader/package.xml b/common/global_parameter_loader/package.xml
index 4c2568b9aec98..78d08e4038250 100644
--- a/common/global_parameter_loader/package.xml
+++ b/common/global_parameter_loader/package.xml
@@ -10,8 +10,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <exec_depend>vehicle_info_util</exec_depend>
+  <depend>sample_vehicle_description</depend>
+  <depend>vehicle_info_util</depend>
 
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
diff --git a/common/global_parameter_loader/test/test_global_params_launch.cpp b/common/global_parameter_loader/test/test_global_params_launch.cpp
new file mode 100644
index 0000000000000..2b33a695253ff
--- /dev/null
+++ b/common/global_parameter_loader/test/test_global_params_launch.cpp
@@ -0,0 +1,44 @@
+// Copyright 2023 The Autoware Foundation
+//
+// 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.
+
+#include <gtest/gtest.h>
+
+#include <cstdlib>
+#include <iostream>
+#include <string>
+
+TEST(TestLaunchFile, test_launch_file)
+{
+  // Define the path of Python launch file
+  std::string global_params_launch_path = "global_params.launch.py";
+
+  // Define the parameters you want to pass to the launch file
+  std::string use_sim_time_param = "false";
+  std::string vehicle_model_param = "sample_vehicle";
+  // Construct the command to run the Python launch script with parameters
+  std::string command = "ros2 launch global_parameter_loader " + global_params_launch_path +
+                        " use_sim_time:=" + use_sim_time_param +
+                        " vehicle_model:=" + vehicle_model_param;
+
+  // Use the system() function to execute the command
+  int result = std::system(command.c_str());
+  // Check the result of running the launch file
+  EXPECT_EQ(result, 0);
+}
+
+int main(int argc, char * argv[])
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}