diff --git a/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml b/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml
index 2eb671c1f5150..c27f136d505f5 100644
--- a/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml
+++ b/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml
@@ -6,5 +6,8 @@
     max_vibration_width: 0.5             # -0.25 ~ 0.25 m
     max_vibration_depth: 0.5             # -0.25 ~ 0.25 m
     max_detection_range: 200.0
+    min_timestamp_offset: -0.3           # This parameter should be configured differently for each camera considering their delay.
+    max_timestamp_offset: 0.0            # This parameter should be configured differently for each camera considering their delay.
+    timestamp_sample_len: 0.02
     car_traffic_light_max_angle_range: 40.0
     pedestrian_traffic_light_max_angle_range: 80.0
diff --git a/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml b/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml
index 2dc6afa4fa4d5..891c0f8297ae7 100644
--- a/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml
+++ b/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml
@@ -5,12 +5,6 @@
   <arg name="input/route" default="/planning/mission_planning/route"/>
   <arg name="expect/rois" default="~/expect/rois"/>
   <arg name="output/rois" default="~/output/rois"/>
-  <arg name="output/camera_info" default="~/camera_info"/>
-  <!--This parameter should be configured differently for each camera considering their delay.-->
-  <arg name="min_timestamp_offset" default="0.0"/>
-  <!--This parameter should be configured differently for each camera considering their delay.-->
-  <arg name="max_timestamp_offset" default="0.0"/>
-  <arg name="timestamp_sample_len" default="0.02"/>
   <arg name="param_path" default="$(find-pkg-share traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml"/>
 
   <node pkg="traffic_light_map_based_detector" exec="traffic_light_map_based_detector_node" name="traffic_light_map_based_detector" output="screen">
@@ -19,10 +13,6 @@
     <remap from="~/expect/rois" to="$(var expect/rois)"/>
     <remap from="~/input/route" to="$(var input/route)"/>
     <remap from="~/output/rois" to="$(var output/rois)"/>
-    <remap from="~/output/camera_info" to="$(var output/camera_info)"/>
     <param from="$(var param_path)"/>
-    <param name="min_timestamp_offset" value="$(var min_timestamp_offset)"/>
-    <param name="max_timestamp_offset" value="$(var max_timestamp_offset)"/>
-    <param name="timestamp_sample_len" value="$(var timestamp_sample_len)"/>
   </node>
 </launch>