diff --git a/autoware_launch/config/map/map_tf_generator.param.yaml b/autoware_launch/config/map/map_tf_generator.param.yaml
new file mode 100644
index 0000000000..90790808ac
--- /dev/null
+++ b/autoware_launch/config/map/map_tf_generator.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    map_frame: map
+    viewer_frame: viewer
diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
index 455b848c63..ba5611b6c0 100644
--- a/autoware_launch/launch/components/tier4_map_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -8,6 +8,7 @@
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
     <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
+    <arg name="map_tf_generator_param_path" value="$(find-pkg-share autoware_launch)/config/map/map_tf_generator.param.yaml"/>
     <arg name="map_projection_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/map_projection_loader.param.yaml"/>
   </include>
 </launch>