diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml
index d55630aa3658b..c234d1ac28e08 100644
--- a/launch/tier4_control_launch/launch/control.launch.xml
+++ b/launch/tier4_control_launch/launch/control.launch.xml
@@ -7,7 +7,6 @@
   <arg name="trajectory_follower_mode" default="trajectory_follower_node"/>
   <arg name="lateral_controller_mode"/>
   <arg name="longitudinal_controller_mode"/>
-  <arg name="enable_autonomous_emergency_braking"/>
   <arg name="use_aeb_autoware_state_check"/>
   <arg name="check_external_emergency_heartbeat"/>
 
@@ -16,6 +15,7 @@
   <arg name="launch_shift_decider" default="true"/>
   <arg name="launch_vehicle_cmd_gate" default="true"/>
   <arg name="launch_operation_mode_transition_manager" default="true"/>
+  <arg name="launch_basic_control_modules" default="true"/>
   <arg name="launch_external_cmd_selector" default="true"/>
   <arg name="launch_external_cmd_converter" default="true"/>
   <arg name="launch_control_evaluator" default="true"/>
@@ -78,103 +78,95 @@
           <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
         </composable_node>
       </load_composable_node>
-
+        <!-- if="$(var launch_basic_control_modules)" -->
       <load_composable_node target="/control/control_container">
         <!-- lane departure checker -->
-        <group if="$(var launch_lane_departure_checker)">
-          <composable_node pkg="autoware_lane_departure_checker" plugin="autoware::lane_departure_checker::LaneDepartureCheckerNode" name="lane_departure_checker_node" namespace="trajectory_follower">
-            <remap from="~/input/odometry" to="/localization/kinematic_state"/>
-            <remap from="~/input/lanelet_map_bin" to="/map/vector_map"/>
-            <remap from="~/input/route" to="/planning/mission_planning/route"/>
-            <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
-            <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
-            <param from="$(var nearest_search_param_path)"/>
-            <param from="$(var lane_departure_checker_param_path)"/>
-            <param from="$(var vehicle_param_file)"/>
-            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
-          </composable_node>
-        </group>
+        <composable_node pkg="autoware_lane_departure_checker" plugin="autoware::lane_departure_checker::LaneDepartureCheckerNode" name="lane_departure_checker_node" namespace="trajectory_follower">
+          <remap from="~/input/odometry" to="/localization/kinematic_state"/>
+          <remap from="~/input/lanelet_map_bin" to="/map/vector_map"/>
+          <remap from="~/input/route" to="/planning/mission_planning/route"/>
+          <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
+          <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
+          <param from="$(var nearest_search_param_path)"/>
+          <param from="$(var lane_departure_checker_param_path)"/>
+          <param from="$(var vehicle_param_file)"/>
+          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+        </composable_node>
 
         <!-- shift decider -->
-        <group if="$(var launch_shift_decider)">
-          <composable_node pkg="autoware_shift_decider" plugin="autoware::shift_decider::ShiftDecider" name="autoware_shift_decider">
-            <remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/>
-            <remap from="input/state" to="/autoware/state"/>
-            <remap from="input/current_gear" to="/vehicle/status/gear_status"/>
-            <remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd"/>
-            <param from="$(var shift_decider_param_path)"/>
-            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
-          </composable_node>
-        </group>
+        <composable_node pkg="autoware_shift_decider" plugin="autoware::shift_decider::ShiftDecider" name="autoware_shift_decider">
+          <remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/>
+          <remap from="input/state" to="/autoware/state"/>
+          <remap from="input/current_gear" to="/vehicle/status/gear_status"/>
+          <remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd"/>
+          <param from="$(var shift_decider_param_path)"/>
+          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+        </composable_node>
 
         <!-- vehicle cmd gate -->
-        <group if="$(var launch_vehicle_cmd_gate)">
-          <composable_node pkg="autoware_vehicle_cmd_gate" plugin="autoware::vehicle_cmd_gate::VehicleCmdGate" name="vehicle_cmd_gate">
-            <remap from="input/steering" to="/vehicle/status/steering_status"/>
-            <remap from="input/operation_mode" to="/system/operation_mode/state"/>
-            <remap from="input/auto/control_cmd" to="/control/trajectory_follower/control_cmd"/>
-            <remap from="input/auto/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
-            <remap from="input/auto/hazard_lights_cmd" to="/planning/hazard_lights_cmd"/>
-            <remap from="input/auto/gear_cmd" to="/control/shift_decider/gear_cmd"/>
-            <remap from="input/external/control_cmd" to="/external/selected/control_cmd"/>
-            <remap from="input/external/turn_indicators_cmd" to="/external/selected/turn_indicators_cmd"/>
-            <remap from="input/external/hazard_lights_cmd" to="/external/selected/hazard_lights_cmd"/>
-            <remap from="input/external/gear_cmd" to="/external/selected/gear_cmd"/>
-            <remap from="input/external_emergency_stop_heartbeat" to="/external/selected/heartbeat"/>
-            <remap from="input/gate_mode" to="/control/gate_mode_cmd"/>
-            <remap from="input/emergency/control_cmd" to="/system/emergency/control_cmd"/>
-            <remap from="input/emergency/hazard_lights_cmd" to="/system/emergency/hazard_lights_cmd"/>
-            <remap from="input/emergency/gear_cmd" to="/system/emergency/gear_cmd"/>
-            <remap from="input/mrm_state" to="/system/fail_safe/mrm_state"/>
-            <remap from="input/kinematics" to="/localization/kinematic_state"/>
-            <remap from="input/acceleration" to="/localization/acceleration"/>
-            <remap from="output/vehicle_cmd_emergency" to="/control/command/emergency_cmd"/>
-            <remap from="output/control_cmd" to="/control/command/control_cmd"/>
-            <remap from="output/gear_cmd" to="/control/command/gear_cmd"/>
-            <remap from="output/turn_indicators_cmd" to="/control/command/turn_indicators_cmd"/>
-            <remap from="output/hazard_lights_cmd" to="/control/command/hazard_lights_cmd"/>
-            <remap from="output/gate_mode" to="/control/current_gate_mode"/>
-            <remap from="output/engage" to="/api/autoware/get/engage"/>
-            <remap from="output/external_emergency" to="/api/autoware/get/emergency"/>
-            <remap from="output/operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
-            <remap from="~/service/engage" to="/api/autoware/set/engage"/>
-            <remap from="~/service/external_emergency" to="/api/autoware/set/emergency"/>
-            <!-- TODO(Takagi, Isamu): deprecated -->
-            <remap from="input/engage" to="/autoware/engage"/>
-            <remap from="~/service/external_emergency_stop" to="~/external_emergency_stop"/>
-            <remap from="~/service/clear_external_emergency_stop" to="~/clear_external_emergency_stop"/>
-            <param from="$(var vehicle_cmd_gate_param_path)"/>
-            <param from="$(var vehicle_param_file)"/>
-            <param name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
-            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
-          </composable_node>
-        </group>
+        <composable_node pkg="autoware_vehicle_cmd_gate" plugin="autoware::vehicle_cmd_gate::VehicleCmdGate" name="vehicle_cmd_gate">
+          <remap from="input/steering" to="/vehicle/status/steering_status"/>
+          <remap from="input/operation_mode" to="/system/operation_mode/state"/>
+          <remap from="input/auto/control_cmd" to="/control/trajectory_follower/control_cmd"/>
+          <remap from="input/auto/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
+          <remap from="input/auto/hazard_lights_cmd" to="/planning/hazard_lights_cmd"/>
+          <remap from="input/auto/gear_cmd" to="/control/shift_decider/gear_cmd"/>
+          <remap from="input/external/control_cmd" to="/external/selected/control_cmd"/>
+          <remap from="input/external/turn_indicators_cmd" to="/external/selected/turn_indicators_cmd"/>
+          <remap from="input/external/hazard_lights_cmd" to="/external/selected/hazard_lights_cmd"/>
+          <remap from="input/external/gear_cmd" to="/external/selected/gear_cmd"/>
+          <remap from="input/external_emergency_stop_heartbeat" to="/external/selected/heartbeat"/>
+          <remap from="input/gate_mode" to="/control/gate_mode_cmd"/>
+          <remap from="input/emergency/control_cmd" to="/system/emergency/control_cmd"/>
+          <remap from="input/emergency/hazard_lights_cmd" to="/system/emergency/hazard_lights_cmd"/>
+          <remap from="input/emergency/gear_cmd" to="/system/emergency/gear_cmd"/>
+          <remap from="input/mrm_state" to="/system/fail_safe/mrm_state"/>
+          <remap from="input/kinematics" to="/localization/kinematic_state"/>
+          <remap from="input/acceleration" to="/localization/acceleration"/>
+          <remap from="output/vehicle_cmd_emergency" to="/control/command/emergency_cmd"/>
+          <remap from="output/control_cmd" to="/control/command/control_cmd"/>
+          <remap from="output/gear_cmd" to="/control/command/gear_cmd"/>
+          <remap from="output/turn_indicators_cmd" to="/control/command/turn_indicators_cmd"/>
+          <remap from="output/hazard_lights_cmd" to="/control/command/hazard_lights_cmd"/>
+          <remap from="output/gate_mode" to="/control/current_gate_mode"/>
+          <remap from="output/engage" to="/api/autoware/get/engage"/>
+          <remap from="output/external_emergency" to="/api/autoware/get/emergency"/>
+          <remap from="output/operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
+          <remap from="~/service/engage" to="/api/autoware/set/engage"/>
+          <remap from="~/service/external_emergency" to="/api/autoware/set/emergency"/>
+          <!-- TODO(Takagi, Isamu): deprecated -->
+          <remap from="input/engage" to="/autoware/engage"/>
+          <remap from="~/service/external_emergency_stop" to="~/external_emergency_stop"/>
+          <remap from="~/service/clear_external_emergency_stop" to="~/clear_external_emergency_stop"/>
+          <param from="$(var vehicle_cmd_gate_param_path)"/>
+          <param from="$(var vehicle_param_file)"/>
+          <param name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
+          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+        </composable_node>
 
         <!-- operation mode transition manager -->
-        <group if="$(var launch_operation_mode_transition_manager)">
-          <composable_node
-            pkg="autoware_operation_mode_transition_manager"
-            plugin="autoware::operation_mode_transition_manager::OperationModeTransitionManager"
-            name="autoware_operation_mode_transition_manager"
-          >
-            <!-- input -->
-            <remap from="kinematics" to="/localization/kinematic_state"/>
-            <remap from="steering" to="/vehicle/status/steering_status"/>
-            <remap from="trajectory" to="/planning/scenario_planning/trajectory"/>
-            <remap from="control_cmd" to="/control/command/control_cmd"/>
-            <remap from="trajectory_follower_control_cmd" to="/control/trajectory_follower/control_cmd"/>
-            <remap from="control_mode_report" to="/vehicle/status/control_mode"/>
-            <remap from="gate_operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
-            <!-- output -->
-            <remap from="is_autonomous_available" to="/control/is_autonomous_available"/>
-            <remap from="control_mode_request" to="/control/control_mode_request"/>
-            <param from="$(var nearest_search_param_path)"/>
-            <param from="$(var operation_mode_transition_manager_param_path)"/>
-            <param from="$(var vehicle_param_file)"/>
-            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
-          </composable_node>
-          <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component"/>
-        </group>
+        <composable_node
+          pkg="autoware_operation_mode_transition_manager"
+          plugin="autoware::operation_mode_transition_manager::OperationModeTransitionManager"
+          name="autoware_operation_mode_transition_manager"
+        >
+          <!-- input -->
+          <remap from="kinematics" to="/localization/kinematic_state"/>
+          <remap from="steering" to="/vehicle/status/steering_status"/>
+          <remap from="trajectory" to="/planning/scenario_planning/trajectory"/>
+          <remap from="control_cmd" to="/control/command/control_cmd"/>
+          <remap from="trajectory_follower_control_cmd" to="/control/trajectory_follower/control_cmd"/>
+          <remap from="control_mode_report" to="/vehicle/status/control_mode"/>
+          <remap from="gate_operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
+          <!-- output -->
+          <remap from="is_autonomous_available" to="/control/is_autonomous_available"/>
+          <remap from="control_mode_request" to="/control/control_mode_request"/>
+          <param from="$(var nearest_search_param_path)"/>
+          <param from="$(var operation_mode_transition_manager_param_path)"/>
+          <param from="$(var vehicle_param_file)"/>
+          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+        </composable_node>
+        <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component"/>
       </load_composable_node>
     </group>