diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 1c38056958..b378697533 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -15,6 +15,32 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
 
+  <!-- In the Gen2 sensor configuration, the traffic_light_recognition node is launched not through the conventional autoware.universe/launch/tier4_perception_launch but with its own custom launch file.
+  This is because autoware.universe's launch files do not support an arbitrary number of cameras. If autoware.universe's launch files were to support it, it is recommended to use them instead. -->
+  <include file="$(find-pkg-share autoware_launch)/launch/components/traffic_light_recognition/traffic_light.launch.xml">
+    <arg name="fusion_only" value="true"/>
+    <arg name="enable_fine_detection" value="true"/>
+    <arg name="image_number" value="4"/>
+    <arg name="input/cloud" value="/sensing/lidar/top/pointcloud_raw"/>
+    <arg name="internal/traffic_signals" value="/perception/traffic_light_recognition/internal/traffic_signals"/>
+    <arg name="fusion/traffic_signals" value="/perception/traffic_light_recognition/fusion/traffic_signals"/>
+    <arg name="external/traffic_signals" value="/perception/traffic_light_recognition/external/traffic_signals"/>
+    <arg name="output/traffic_signals" value="/perception/traffic_light_recognition/traffic_signals"/>
+    <arg name="use_crosswalk_traffic_light_estimator" value="true"/>
+    <arg name="crosswalk_traffic_light_estimator_param_file" value="$(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/>
+
+    <arg name="camera_namespaces" value="['camera4', 'camera5', 'camera6', 'camera7']"/>
+    <arg name="fine_detector_label_path" value="$(var data_path)/traffic_light_fine_detector/tlr_labels.txt"/>
+    <arg name="fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector/tlr_yolox_s_batch_6.onnx"/>
+    <arg name="car_classifier_label_path" value="$(var data_path)/traffic_light_classifier/lamp_labels.txt"/>
+    <arg name="pedestrian_classifier_label_path" value="$(var data_path)/traffic_light_classifier/lamp_labels_ped.txt"/>
+    <arg name="car_classifier_model_path" value="$(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx"/>
+    <arg name="pedestrian_classifier_model_path" value="$(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx"/>
+  </include>
+
+  <!-- NOTE: Override by false to disable conventional traffic light recognition launch -->
+  <let name="use_traffic_light_recognition" value="false"/>
+
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
@@ -178,7 +204,7 @@
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
 
     <!-- traffic light recognition -->
-    <arg name="use_traffic_light_recognition" value="true"/>
+    <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
     <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="traffic_light_recognition/fusion_only" value="true"/>
     <arg name="traffic_light_image_number" value="1"/>
diff --git a/autoware_launch/launch/components/traffic_light_recognition/traffic_light.launch.xml b/autoware_launch/launch/components/traffic_light_recognition/traffic_light.launch.xml
new file mode 100644
index 0000000000..52c16fff5d
--- /dev/null
+++ b/autoware_launch/launch/components/traffic_light_recognition/traffic_light.launch.xml
@@ -0,0 +1,293 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="enable_image_decompressor" default="true" description="enable image decompressor"/>
+  <arg name="enable_fine_detection" default="true" description="enable fine position adjustment of traffic light"/>
+  <arg name="fusion_only" default="false" description="launch only occlusion_predictor and multi_camera_fusion"/>
+  <arg name="traffic_light_fine_detector_model_path" default="$(find-pkg-share traffic_light_fine_detector)/data" description="fine detector label path"/>
+  <arg name="traffic_light_fine_detector_label_name" default="tlr_labels.txt" description="fine detector label filename"/>
+  <arg name="traffic_light_fine_detector_model_name" default="tlr_yolox_s_batch_6" description="fine detector onnx model filename"/>
+  <arg name="traffic_light_classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data" description="classifier label path"/>
+  <arg name="car_traffic_light_classifier_label_name" default="lamp_labels.txt" description="classifier label filename"/>
+  <arg name="pedestrian_traffic_light_classifier_label_name" default="lamp_labels_ped.txt" description="classifier label filename"/>
+  <arg name="car_traffic_light_classifier_model_name" default="traffic_light_classifier_mobilenetv2_batch_6.onnx" description="classifier onnx model filename"/>
+  <arg name="pedestrian_traffic_light_classifier_model_name" default="ped_traffic_light_classifier_mobilenetv2_batch_6.onnx" description="classifier onnx model filename"/>
+  <arg name="input/cloud" default="/sensing/lidar/top/pointcloud_raw" description="point cloud for occlusion prediction"/>
+  <arg name="judged/traffic_signals" default="/perception/traffic_light_recognition/judged/traffic_signals"/>
+  <arg name="internal/traffic_signals" default="/perception/traffic_light_recognition/internal/traffic_signals"/>
+  <arg name="external/traffic_signals" default="/perception/traffic_light_recognition/external/traffic_signals"/>
+  <arg name="output/traffic_signals" default="/perception/traffic_light_recognition/traffic_signals"/>
+  <arg name="use_crosswalk_traffic_light_estimator" default="true" description="output pedestrian's traffic light signals"/>
+  <arg name="crosswalk_traffic_light_estimator_param_file" default="$(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/>
+  <arg name="image_number" default="4" description="choose image raw number(1-4)"/>
+  <arg name="camera_namespaces" default="['camera4', 'camera5', 'camera6', 'camera7']"/>
+
+  <arg name="fine_detector_param_path" default="$(find-pkg-share traffic_light_fine_detector)/config/traffic_light_fine_detector.param.yaml"/>
+  <arg name="car_classifier_param_path" default="$(find-pkg-share traffic_light_classifier)/config/car_traffic_light_classifier.param.yaml"/>
+  <arg name="pedestrian_classifier_param_path" default="$(find-pkg-share traffic_light_classifier)/config/pedestrian_traffic_light_classifier.param.yaml"/>
+
+  <!--  namespace1 camera TLR pipeline -->
+  <group if="$(eval '$(var image_number) >= 1')">
+    <let name="namespace" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[0]')"/>
+    <push-ros-namespace namespace="$(var namespace)"/>
+    <let name="input/image" value="/sensing/camera/$(var namespace)/image_raw"/>
+    <let name="input/camera_info" value="/sensing/camera/$(var namespace)/camera_info"/>
+    <let name="output/rois" value="/perception/traffic_light_recognition/$(var namespace)/detection/rois"/>
+    <let name="output/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/traffic_signals"/>
+    <let name="output/car/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/car/traffic_signals"/>
+    <let name="output/pedestrian/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/pedestrian/traffic_signals"/>
+    <let name="map_based_detector_output_topic" value="rough/rois" if="$(var enable_fine_detection)"/>
+    <let name="map_based_detector_output_topic" value="$(var output/rois)" unless="$(var enable_fine_detection)"/>
+
+    <group unless="$(var fusion_only)">
+      <node pkg="topic_tools" exec="relay" name="traffic_light_camera_info_relay" args="$(var input/camera_info) camera_info"/>
+      <group>
+        <push-ros-namespace namespace="detection"/>
+        <include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
+          <arg name="input/camera_info" value="$(var input/camera_info)"/>
+          <arg name="expect/rois" value="expect/rois"/>
+          <arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
+          <!-- This parameter should be configured differently for each camera considering their delay. -->
+          <arg name="min_timestamp_offset" value="-0.3"/>
+          <arg name="max_timestamp_offset" value="0.0"/>
+        </include>
+      </group>
+
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
+        <arg name="input/image" value="$(var input/image)"/>
+        <arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
+        <arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
+        <arg name="use_intra_process" value="true"/>
+        <arg name="use_multithread" value="true"/>
+        <arg name="fine_detector_param_path" value="$(var fine_detector_param_path)"/>
+        <arg name="car_classifier_param_path" value="$(var car_classifier_param_path)"/>
+        <arg name="pedestrian_classifier_param_path" value="$(var pedestrian_classifier_param_path)"/>
+        <arg name="output/rois" value="$(var output/rois1)"/>
+        <arg name="output/traffic_signals" value="$(var output/traffic_signals1)"/>
+        <arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals1)"/>
+        <arg name="output/pedestrian/traffic_signals" value="$(var output/pedestrian/traffic_signals1)"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="classification"/>
+      <include file="$(find-pkg-share traffic_light_occlusion_predictor)/launch/traffic_light_occlusion_predictor.launch.xml">
+        <arg name="input/camera_info" value="$(var input/camera_info)"/>
+        <arg name="input/cloud" value="$(var input/cloud)"/>
+        <arg name="input/rois" value="$(var output/rois)"/>
+        <arg name="input/car/traffic_signals" value="classified/car/traffic_signals"/>
+        <arg name="input/pedestrian/traffic_signals" value="classified/pedestrian/traffic_signals"/>
+        <arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
+      </include>
+    </group>
+  </group>
+
+  <!--  namespace2 camera TLR pipeline -->
+  <group if="$(eval '$(var image_number) >= 2')">
+    <let name="namespace" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[1]')"/>
+    <push-ros-namespace namespace="$(var namespace)"/>
+    <let name="input/image" value="/sensing/camera/$(var namespace)/image_raw"/>
+    <let name="input/camera_info" value="/sensing/camera/$(var namespace)/camera_info"/>
+    <let name="output/rois" value="/perception/traffic_light_recognition/$(var namespace)/detection/rois"/>
+    <let name="output/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/traffic_signals"/>
+    <let name="output/car/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/car/traffic_signals"/>
+    <let name="output/pedestrian/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/pedestrian/traffic_signals"/>
+    <let name="map_based_detector_output_topic" value="rough/rois" if="$(var enable_fine_detection)"/>
+    <let name="map_based_detector_output_topic" value="$(var output/rois)" unless="$(var enable_fine_detection)"/>
+
+    <group unless="$(var fusion_only)">
+      <node pkg="topic_tools" exec="relay" name="traffic_light_camera_info_relay" args="$(var input/camera_info) camera_info"/>
+      <group>
+        <push-ros-namespace namespace="detection"/>
+        <include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
+          <arg name="input/camera_info" value="$(var input/camera_info)"/>
+          <arg name="expect/rois" value="expect/rois"/>
+          <arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
+          <!-- This parameter should be configured differently for each camera considering their delay. -->
+          <arg name="min_timestamp_offset" value="-0.3"/>
+          <arg name="max_timestamp_offset" value="0.0"/>
+        </include>
+      </group>
+
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
+        <arg name="input/image" value="$(var input/image)"/>
+        <arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
+        <arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
+        <arg name="use_intra_process" value="true"/>
+        <arg name="use_multithread" value="true"/>
+        <arg name="fine_detector_param_path" value="$(var fine_detector_param_path)"/>
+        <arg name="car_classifier_param_path" value="$(var car_classifier_param_path)"/>
+        <arg name="pedestrian_classifier_param_path" value="$(var pedestrian_classifier_param_path)"/>
+        <arg name="output/rois" value="$(var output/rois1)"/>
+        <arg name="output/traffic_signals" value="$(var output/traffic_signals1)"/>
+        <arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals1)"/>
+        <arg name="output/pedestrian/traffic_signals" value="$(var output/pedestrian/traffic_signals1)"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="classification"/>
+      <include file="$(find-pkg-share traffic_light_occlusion_predictor)/launch/traffic_light_occlusion_predictor.launch.xml">
+        <arg name="input/camera_info" value="$(var input/camera_info)"/>
+        <arg name="input/cloud" value="$(var input/cloud)"/>
+        <arg name="input/rois" value="$(var output/rois)"/>
+        <arg name="input/car/traffic_signals" value="classified/car/traffic_signals"/>
+        <arg name="input/pedestrian/traffic_signals" value="classified/pedestrian/traffic_signals"/>
+        <arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
+      </include>
+    </group>
+  </group>
+
+  <!--  namespace3 camera TLR pipeline -->
+  <group if="$(eval '$(var image_number) >= 3')">
+    <let name="namespace" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[2]')"/>
+    <push-ros-namespace namespace="$(var namespace)"/>
+    <let name="input/image" value="/sensing/camera/$(var namespace)/image_raw"/>
+    <let name="input/camera_info" value="/sensing/camera/$(var namespace)/camera_info"/>
+    <let name="output/rois" value="/perception/traffic_light_recognition/$(var namespace)/detection/rois"/>
+    <let name="output/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/traffic_signals"/>
+    <let name="output/car/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/car/traffic_signals"/>
+    <let name="output/pedestrian/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/pedestrian/traffic_signals"/>
+    <let name="map_based_detector_output_topic" value="rough/rois" if="$(var enable_fine_detection)"/>
+    <let name="map_based_detector_output_topic" value="$(var output/rois)" unless="$(var enable_fine_detection)"/>
+
+    <group unless="$(var fusion_only)">
+      <node pkg="topic_tools" exec="relay" name="traffic_light_camera_info_relay" args="$(var input/camera_info) camera_info"/>
+      <group>
+        <push-ros-namespace namespace="detection"/>
+        <include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
+          <arg name="input/camera_info" value="$(var input/camera_info)"/>
+          <arg name="expect/rois" value="expect/rois"/>
+          <arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
+          <!-- This parameter should be configured differently for each camera considering their delay. -->
+          <arg name="min_timestamp_offset" value="-0.3"/>
+          <arg name="max_timestamp_offset" value="0.0"/>
+        </include>
+      </group>
+
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
+        <arg name="input/image" value="$(var input/image)"/>
+        <arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
+        <arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
+        <arg name="use_intra_process" value="true"/>
+        <arg name="use_multithread" value="true"/>
+        <arg name="fine_detector_param_path" value="$(var fine_detector_param_path)"/>
+        <arg name="car_classifier_param_path" value="$(var car_classifier_param_path)"/>
+        <arg name="pedestrian_classifier_param_path" value="$(var pedestrian_classifier_param_path)"/>
+        <arg name="output/rois" value="$(var output/rois1)"/>
+        <arg name="output/traffic_signals" value="$(var output/traffic_signals1)"/>
+        <arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals1)"/>
+        <arg name="output/pedestrian/traffic_signals" value="$(var output/pedestrian/traffic_signals1)"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="classification"/>
+      <include file="$(find-pkg-share traffic_light_occlusion_predictor)/launch/traffic_light_occlusion_predictor.launch.xml">
+        <arg name="input/camera_info" value="$(var input/camera_info)"/>
+        <arg name="input/cloud" value="$(var input/cloud)"/>
+        <arg name="input/rois" value="$(var output/rois)"/>
+        <arg name="input/car/traffic_signals" value="classified/car/traffic_signals"/>
+        <arg name="input/pedestrian/traffic_signals" value="classified/pedestrian/traffic_signals"/>
+        <arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
+      </include>
+    </group>
+  </group>
+
+  <!--  namespace4 camera TLR pipeline -->
+  <group if="$(eval '$(var image_number) >= 4')">
+    <let name="namespace" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[3]')"/>
+    <push-ros-namespace namespace="$(var namespace)"/>
+    <let name="input/image" value="/sensing/camera/$(var namespace)/image_raw"/>
+    <let name="input/camera_info" value="/sensing/camera/$(var namespace)/camera_info"/>
+    <let name="output/rois" value="/perception/traffic_light_recognition/$(var namespace)/detection/rois"/>
+    <let name="output/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/traffic_signals"/>
+    <let name="output/car/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/car/traffic_signals"/>
+    <let name="output/pedestrian/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/pedestrian/traffic_signals"/>
+    <let name="map_based_detector_output_topic" value="rough/rois" if="$(var enable_fine_detection)"/>
+    <let name="map_based_detector_output_topic" value="$(var output/rois)" unless="$(var enable_fine_detection)"/>
+
+    <group unless="$(var fusion_only)">
+      <node pkg="topic_tools" exec="relay" name="traffic_light_camera_info_relay" args="$(var input/camera_info) camera_info"/>
+      <group>
+        <push-ros-namespace namespace="detection"/>
+        <include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
+          <arg name="input/camera_info" value="$(var input/camera_info)"/>
+          <arg name="expect/rois" value="expect/rois"/>
+          <arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
+          <!-- This parameter should be configured differently for each camera considering their delay. -->
+          <arg name="min_timestamp_offset" value="-0.3"/>
+          <arg name="max_timestamp_offset" value="0.0"/>
+        </include>
+      </group>
+
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
+        <arg name="input/image" value="$(var input/image)"/>
+        <arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
+        <arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
+        <arg name="use_intra_process" value="true"/>
+        <arg name="use_multithread" value="true"/>
+        <arg name="fine_detector_param_path" value="$(var fine_detector_param_path)"/>
+        <arg name="car_classifier_param_path" value="$(var car_classifier_param_path)"/>
+        <arg name="pedestrian_classifier_param_path" value="$(var pedestrian_classifier_param_path)"/>
+        <arg name="output/rois" value="$(var output/rois1)"/>
+        <arg name="output/traffic_signals" value="$(var output/traffic_signals1)"/>
+        <arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals1)"/>
+        <arg name="output/pedestrian/traffic_signals" value="$(var output/pedestrian/traffic_signals1)"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="classification"/>
+      <include file="$(find-pkg-share traffic_light_occlusion_predictor)/launch/traffic_light_occlusion_predictor.launch.xml">
+        <arg name="input/camera_info" value="$(var input/camera_info)"/>
+        <arg name="input/cloud" value="$(var input/cloud)"/>
+        <arg name="input/rois" value="$(var output/rois)"/>
+        <arg name="input/car/traffic_signals" value="classified/car/traffic_signals"/>
+        <arg name="input/pedestrian/traffic_signals" value="classified/pedestrian/traffic_signals"/>
+        <arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
+      </include>
+    </group>
+  </group>
+
+  <!-- traffic_light_multi_camera_fusion -->
+  <group>
+    <node pkg="traffic_light_multi_camera_fusion" exec="traffic_light_multi_camera_fusion_node" name="traffic_light_multi_camera_fusion" output="screen">
+      <param name="camera_namespaces" value="$(var camera_namespaces)"/>
+      <param name="perform_group_fusion" value="true"/>
+      <remap from="~/input/vector_map" to="/map/vector_map"/>
+      <remap from="~/output/traffic_signals" to="$(var internal/traffic_signals)"/>
+    </node>
+  </group>
+
+  <!-- V2X fusion -->
+  <group>
+    <include file="$(find-pkg-share traffic_light_arbiter)/launch/traffic_light_arbiter.launch.xml">
+      <arg name="perception_traffic_signals" value="$(var internal/traffic_signals)"/>
+      <arg name="external_traffic_signals" value="$(var external/traffic_signals)"/>
+      <arg name="output_traffic_signals" value="$(var judged/traffic_signals)"/>
+    </include>
+  </group>
+
+  <group if="$(var use_crosswalk_traffic_light_estimator)">
+    <node pkg="autoware_crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen">
+      <remap from="~/input/vector_map" to="/map/vector_map"/>
+      <remap from="~/input/route" to="/planning/mission_planning/route"/>
+      <remap from="~/input/classified/traffic_signals" to="$(var judged/traffic_signals)"/>
+      <remap from="~/output/traffic_signals" to="$(var output/traffic_signals)"/>
+      <param from="$(var crosswalk_traffic_light_estimator_param_file)"/>
+    </node>
+  </group>
+
+  <group unless="$(var use_crosswalk_traffic_light_estimator)">
+    <node pkg="topic_tools" exec="relay" name="fusion_signals_relay" output="screen">
+      <param name="input_topic" value="$(var judged/traffic_signals)"/>
+      <param name="output_topic" value="$(var output/traffic_signals)"/>
+      <param name="type" value="autoware_perception_msgs/msg/TrafficLightGroupArray"/>
+    </node>
+  </group>
+
+  <!-- visualizer -->
+  <group>
+    <include file="$(find-pkg-share traffic_light_visualization)/launch/traffic_light_map_visualizer.launch.xml"/>
+  </group>
+</launch>