diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index a089da6397..9ce8a421e9 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -18,6 +18,8 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- Perception -->
+  <arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/>
   <!-- Control -->
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
@@ -56,6 +58,7 @@
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->
       <arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
+      <arg name="namespace1" value="$(var traffic_light_namespace)"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>