diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
index 4f9941782b..deb04927c1 100644
--- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -85,14 +85,3 @@
       steering_offset_limit: 0.02
 
     publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose
-    # vehicle parameters
-    mass_kg: 2400.0
-    mass_fl: 600.0
-    mass_fr: 600.0
-    mass_rl: 600.0
-    mass_rr: 600.0
-    cf: 155494.663
-    cr: 155494.663
-
-    debug_publish_predicted_trajectory: true  # publish debug predicted trajectory in Frenet coordinate
-    debug_resampled_reference_trajectory: true # publish resampled reference trajectory in world coordinate
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 6f91757918..e253ea7314 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2451,23 +2451,12 @@ Visualization Manager:
         - Class: rviz_plugins/Trajectory
           Color Border Vel Max: 3
           Enabled: false
-          Name: Resampled Reference Trajectory
-          Enabled: true
           Name: Predicted Trajectory in frenet coordinate
           Topic:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory
-          Value: true
-          View Path:
-            Alpha: 1
-            Color: 153; 193; 241
-            Constant Color: true
-            Value: false
-            Constant Width: true
-            Width: 0.2
             Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate
           Value: true
           View Path:
@@ -3902,7 +3891,7 @@ Visualization Manager:
       Name: Current View
       Near Clip Distance: 0.009999999776482582
       Scale: 10
-      Target Frame: base_link
+      Target Frame: viewer
       Value: TopDownOrtho (rviz_default_plugins)
       X: 0
       Y: 0