diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index 5ed34227f2249..cdb5fbdb139f2 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -28,7 +28,6 @@
   <arg name="input_rois_number" default="$(var input/rois_number)"/>
 
   <!-- debug -->
-  <arg name="debug_mode" default="false"/>
   <arg name="input/image0" default="/image_raw0"/>
   <arg name="input/image1" default="/image_raw1"/>
   <arg name="input/image2" default="/image_raw2"/>
diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
index 981bc6295df50..959cb7b921044 100644
--- a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
@@ -25,7 +25,6 @@
 
   <!-- debug -->
   <!-- cspell: ignore minx, maxx, miny, maxy, minz, maxz  -->
-  <arg name="debug_mode" default="false"/>
   <arg name="input/image0" default="/image_raw0"/>
   <arg name="input/image1" default="/image_raw1"/>
   <arg name="input/image2" default="/image_raw2"/>
diff --git a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml
index 586f28701bab8..c9da81af9ddb0 100644
--- a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml
@@ -25,7 +25,6 @@
   <arg name="input_rois_number" default="$(var input/rois_number)"/>
 
   <!-- debug -->
-  <arg name="debug_mode" default="false"/>
   <arg name="input/image0" default="/image_raw0"/>
   <arg name="input/image1" default="/image_raw1"/>
   <arg name="input/image2" default="/image_raw2"/>