diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index b36b40ed6a980..48837f33a13ff 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -16,17 +16,6 @@
   <arg name="launch_start_planner_module" default="true"/>
   <arg name="launch_side_shift_module" default="true"/>
 
-  <arg name="launch_avoidance_module" default="true"/>
-  <arg name="launch_dynamic_avoidance_module" default="true"/>
-  <arg name="launch_side_shift_module" default="true"/>
-  <arg name="launch_goal_planner_module" default="true"/>
-  <arg name="launch_start_planner_module" default="true"/>
-  <arg name="launch_lane_change_right_module" default="true"/>
-  <arg name="launch_lane_change_left_module" default="true"/>
-  <arg name="launch_external_request_lane_change_right_module" default="true"/>
-  <arg name="launch_external_request_lane_change_left_module" default="true"/>
-  <arg name="launch_avoidance_by_lane_change_module" default="true"/>
-
   <arg name="launch_crosswalk_module" default="true"/>
   <arg name="launch_walkway_module" default="true"/>
   <arg name="launch_traffic_light_module" default="true"/>