diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index 46ef16dfbdb8d..a297697234ef2 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -211,9 +211,7 @@
       <extra_arg name="use_intra_process_comms" value="false"/>
     </composable_node>
 
-    <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
-  </node_container>
-    <node pkg="behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" namespace="" launch-prefix="konsole -e gdb -ex run --args">
+    <composable_node pkg="behavior_velocity_planner" plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
       <!-- topic remap -->
       <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
       <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
@@ -256,8 +254,12 @@
       <param from="$(var behavior_velocity_planner_out_of_lane_module_param_path)"/>
       <param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
       <param from="$(var behavior_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
-    </node>
+      <!-- composable node config -->
+      <extra_arg name="use_intra_process_comms" value="false"/>
+    </composable_node>
 
+    <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+  </node_container>
 
   <group if="$(var launch_compare_map_pipeline)">
     <group if="$(var use_pointcloud_container)">