diff --git a/launch/tier4_vehicle_launch/launch/vehicle.launch.xml b/launch/tier4_vehicle_launch/launch/vehicle.launch.xml
index 0493e1ae0bbcf..0e1d22bfd1827 100644
--- a/launch/tier4_vehicle_launch/launch/vehicle.launch.xml
+++ b/launch/tier4_vehicle_launch/launch/vehicle.launch.xml
@@ -6,6 +6,7 @@
+
@@ -21,6 +22,7 @@
+
diff --git a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
index d63a115304a87..1001696d96679 100644
--- a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
+++ b/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
@@ -1,8 +1,5 @@
/**:
ros__parameters:
- csv_path_accel_map: "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"
- csv_path_brake_map: "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"
- csv_path_steer_map: "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv"
convert_accel_cmd: true
convert_brake_cmd: true
convert_steer_cmd: true
diff --git a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml b/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
index 0a9962a7c2a30..a74cdcc56132d 100644
--- a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
+++ b/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
@@ -1,5 +1,9 @@
+
+
+
+
@@ -9,6 +13,9 @@
+
+
+
diff --git a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
index 4b562f401e09b..aa8936d331a87 100644
--- a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
+++ b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
@@ -6,21 +6,6 @@
"raw_vehicle_cmd_converter": {
"type": "object",
"properties": {
- "csv_path_accel_map": {
- "type": "string",
- "description": "path for acceleration map csv file",
- "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"
- },
- "csv_path_brake_map": {
- "type": "string",
- "description": "path for brake map csv file",
- "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"
- },
- "csv_path_steer_map": {
- "type": "string",
- "description": "path for steer map csv file",
- "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv"
- },
"convert_accel_cmd": {
"type": "boolean",
"description": "use accel or not",