diff --git a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
new file mode 100644
index 0000000000..f6676bdbe7
--- /dev/null
+++ b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
@@ -0,0 +1,25 @@
+/**:
+ ros__parameters:
+ convert_accel_cmd: true
+ convert_brake_cmd: true
+ convert_steer_cmd: false
+ use_steer_ff: true
+ use_steer_fb: true
+ is_debugging: false
+ max_throttle: 0.4
+ max_brake: 0.8
+ max_steer: 10.0
+ min_steer: -10.0
+ steer_pid:
+ kp: 150.0
+ ki: 15.0
+ kd: 0.0
+ max: 8.0
+ min: -8.0
+ max_p: 8.0
+ min_p: -8.0
+ max_i: 8.0
+ min_i: -8.0
+ max_d: 0.0
+ min_d: 0.0
+ invalid_integration_decay: 0.97
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 64bdf47c72..a2cd12b2c1 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -71,6 +71,7 @@
+