diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
index 7a1ab002336ef..cfbbeb5ea0762 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
@@ -76,6 +76,7 @@ def load_composable_node_param(param_path):
         executable="component_container",
         composable_node_descriptions=[],
         output="screen",
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
     target_container = (
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index b82b85362053e..7df3f701a1433 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -77,6 +77,7 @@ def load_composable_node_param(param_path):
         executable="component_container",
         composable_node_descriptions=[],
         output="screen",
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
     target_container = (