diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
index d2c0841cf3..3a1e9f02c3 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
@@ -24,3 +24,6 @@
     max_distance_from_lane: 5.0 # [m]
     max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
     max_lateral_velocity: 7.0 # [m/s]
+
+    # tracking model parameters
+    tracking_config_directory: $(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/tracking/
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 3519d5780d..3b0f8eca46 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -127,10 +127,6 @@
       name="object_recognition_tracking_radar_object_tracker_node_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml"
     />
-    <arg
-      name="object_recognition_tracking_radar_object_tracker_tracking_config_directory_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/tracking/"
-    />
     <arg
       name="object_recognition_tracking_object_merger_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml"