diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
index 7acf69ec1fed6..62d4c5b7188ee 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -24,7 +24,6 @@
 from launch.substitutions import LaunchConfiguration
 from launch.substitutions import PythonExpression
 from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import Node
 from launch_ros.descriptions import ComposableNode
 from launch_ros.substitutions import FindPackageShare
 import yaml
@@ -151,10 +150,9 @@ def launch_setup(context, *args, **kwargs):
         with open(path) as f:
             behavior_velocity_planner_params.update(yaml.safe_load(f)["/**"]["ros__parameters"])
 
-    behavior_velocity_planner_component = Node(
+    behavior_velocity_planner_component = ComposableNode(
         package="behavior_velocity_planner",
-        # plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode",
-        executable="behavior_velocity_planner_node",
+        plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode",
         name="behavior_velocity_planner",
         namespace="",
         remappings=[
@@ -204,8 +202,7 @@ def launch_setup(context, *args, **kwargs):
             motion_velocity_smoother_param,
             behavior_velocity_smoother_type_param,
         ],
-        # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        prefix="konsole -e gdb -ex run --args",
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
     container = ComposableNodeContainer(
@@ -215,7 +212,7 @@ def launch_setup(context, *args, **kwargs):
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[
             behavior_path_planner_component,
-            # behavior_velocity_planner_component,
+            behavior_velocity_planner_component,
             glog_component,
         ],
         output="screen",
@@ -264,7 +261,6 @@ def launch_setup(context, *args, **kwargs):
     group = GroupAction(
         [
             container,
-            behavior_velocity_planner_component,
             load_compare_map,
             load_vector_map_inside_area_filter,
         ]