diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index a5daf3dd16..9de51c06a0 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -45,6 +45,7 @@
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
+  <arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/>
 
   <!-- Global parameters -->
   <group scoped="false">
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 882ea9d9f9..93c4485206 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -69,6 +69,7 @@
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
       <!-- Auto mode setting-->
       <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      <arg name="is_simulation" value="true"/>
     </include>
   </group>