diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index bb7f1b66f1..bc53dfa834 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -34,6 +34,8 @@
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="$(var scenario_simulation)" description="enable all module's auto mode"/>
+  <!-- Simulated time -->
+  <arg name="use_sim_time" default="$(var scenario_simulation)"/>
 
   <group scoped="false">
     <!-- Vehicle -->