diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
index 833c672ec9850..24f8f5baeac27 100644
--- a/launch/tier4_simulator_launch/launch/simulator.launch.xml
+++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -58,14 +58,6 @@
       </include>
     </group>
 
-    <!-- publish empty objects instead of object recognition module -->
-    <group unless="$(var perception/enable_object_recognition)">
-      <push-ros-namespace namespace="object_recognition"/>
-      <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
-        <remap from="~/output/objects" to="/perception/object_recognition/objects"/>
-      </node>
-    </group>
-
     <!-- perception module -->
     <group>
       <push-ros-namespace namespace="perception"/>