diff --git a/simulator_launch/launch/simulator.launch.xml b/simulator_launch/launch/simulator.launch.xml
deleted file mode 100644
index 79225ea0a8..0000000000
--- a/simulator_launch/launch/simulator.launch.xml
+++ /dev/null
@@ -1,105 +0,0 @@
-<launch>
-  <arg
-    name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
-    default="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
-  />
-  <arg
-    name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
-    default="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
-  />
-
-  <arg name="launch_dummy_perception" />
-  <arg name="launch_dummy_vehicle"/>
-  <arg name="launch_dummy_localization"/>
-
-  <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
-  <arg name="perception/enable_object_recognition" default="false" description="enable object recognition"/>
-  <arg name="perception/enable_traffic_light" default="false" description="enable traffic light"/>
-  <arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
-
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
-
-  <let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
-
-  <group if="$(var scenario_simulation)">
-    <include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml">
-      <arg name="config_file" value="$(find-pkg-share simulator_launch)/config/fault_injection.param.yaml"/>
-    </include>
-  </group>
-  <group unless="$(var scenario_simulation)">
-    <!-- Occupancy Grid -->
-    <push-ros-namespace namespace="occupancy_grid_map"/>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py">
-      <arg name="input_obstacle_pointcloud" value="true" />
-      <arg name="input_obstacle_and_raw_pointcloud" value="false" />
-      <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
-      <arg name="output" value="/perception/occupancy_grid_map/map" />
-    </include>
-  </group>
-
-  <!-- Dummy Perception -->
-  <group if="$(var launch_dummy_perception)">
-    <include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
-      <arg name="real" value="$(var perception/enable_detection_failure)"/>
-      <arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
-      <arg name="visible_range" value="$(var sensing/visible_range)"/>
-    </include>
-  </group>
-
-  <!-- perception module -->
-  <group>
-    <push-ros-namespace namespace="perception"/>
-    <!-- object recognition -->
-    <group if="$(var perception/enable_object_recognition)">
-      <push-ros-namespace namespace="object_recognition"/>
-      <!-- tracking module -->
-      <group>
-        <push-ros-namespace namespace="tracking"/>
-        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
-        </include>
-      </group>
-      <!-- prediction module -->
-      <group>
-        <push-ros-namespace namespace="prediction"/>
-        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
-          <arg name="use_vector_map" value="true" />
-        </include>
-      </group>
-    </group>
-
-    <!-- publish empty objects instead of object recognition module -->
-    <group unless="$(var perception/enable_object_recognition)">
-      <push-ros-namespace namespace="object_recognition"/>
-      <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
-        <remap from="~/output/objects" to="/perception/object_recognition/objects" />
-      </node>
-    </group>
-
-
-    <!-- traffic light module -->
-    <group if="$(var perception/enable_traffic_light)">
-      <push-ros-namespace namespace="traffic_light_recognition"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
-    </group>
-  </group>
-
-  <!-- Dummy localization -->
-  <group if="$(var launch_dummy_localization)">
-    <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
-      <arg name="gnss_enabled" value="false"/>
-      <arg name="ndt_enabled" value="false"/>
-      <arg name="stop_check_enabled" value="false"/>
-    </include>
-  </group>
-
-  <!-- Simulator model -->
-  <group if="$(var launch_dummy_vehicle)">
-    <arg name="simulator_model" default="$(var vehicle_model_pkg)/config/simulator_model.param.yaml" description="path to the file of simulator model"/>
-    <include file="$(find-pkg-share simple_planning_simulator)/launch/simple_planning_simulator.launch.py">
-      <arg name="simulator_model_param_file" value="$(var simulator_model)"/>
-      <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
-    </include>
-  </group>
-
-</launch>