diff --git a/autoware_launch/launch/e2e_simulator_xx1.launch.xml b/autoware_launch/launch/e2e_simulator_xx1.launch.xml
new file mode 100755
index 0000000000..a7c6f55d1a
--- /dev/null
+++ b/autoware_launch/launch/e2e_simulator_xx1.launch.xml
@@ -0,0 +1,112 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="xx1" description="planning module preset"/>
+
+  <!-- Optional parameters -->
+  <!-- Modules to be launched -->
+  <arg name="vehicle" default="true" description="launch vehicle"/>
+  <arg name="system" default="true" description="launch system"/>
+  <arg name="map" default="true" description="launch map"/>
+  <arg name="sensing" default="true" description="launch sensing"/>
+  <arg name="localization" default="true" description="launch localization"/>
+  <arg name="perception" default="true" description="launch perception"/>
+  <arg name="planning" default="true" description="launch planning"/>
+  <arg name="control" default="true" description="launch control"/>
+  <!-- Map -->
+  <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
+  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- Perception -->
+  <arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/>
+  <!-- Control -->
+  <!-- Vehicle -->
+  <arg name="launch_vehicle_interface" default="false"/>
+  <!-- System -->
+  <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
+  <arg
+    name="system_error_monitor_param_path"
+    default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
+    description="system error monitor param path"
+  />
+  <!-- Tools -->
+  <arg name="rviz" default="true" description="launch rviz"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/awsim.rviz" description="rviz config"/>
+
+  <!-- XX1 Traffic Light frame_id relay for AWSIM-->
+  <arg name="traffic_light_original_id" default="camera6/camera_optical_link"/>
+  <arg name="traffic_light_topic_id" default="traffic_light_left_camera/camera_optical_link"/>
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="traffic_light_transform_publisher" args="--frame-id $(var traffic_light_original_id) --child-frame-id $(var traffic_light_topic_id)"/>
+
+  <!-- dummy topic publisher (camera0 ~ camera6)-->
+  <!-- temporary until AWSIM supports object recognition camera -->
+  <arg name="camera0_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera0/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+  <arg name="camera1_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera1/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+  <arg name="camera2_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera2/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+  <arg name="camera3_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera3/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+  <arg name="camera4_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera4/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+  <arg name="camera5_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera5/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+
+  <executable cmd="$(var camera0_pub)" name="camera0" shell="true"/>
+  <executable cmd="$(var camera1_pub)" name="camera1" shell="true"/>
+  <executable cmd="$(var camera2_pub)" name="camera2" shell="true"/>
+  <executable cmd="$(var camera3_pub)" name="camera3" shell="true"/>
+  <executable cmd="$(var camera4_pub)" name="camera4" shell="true"/>
+  <executable cmd="$(var camera5_pub)" name="camera5" shell="true"/>
+
+  <!-- XX1 Traffic Light Image/Info Relay-->
+  <arg name="traffic_light_image_original_name" default="/sensing/camera/traffic_light/image_raw"/>
+  <arg name="traffic_light_image_topic_name" default="/sensing/camera/camera6/image_raw"/>
+  <arg name="traffic_light_info_original_name" default="/sensing/camera/traffic_light/camera_info"/>
+  <arg name="traffic_light_info_topic_name" default="/sensing/camera/camera6/camera_info"/>
+  <node pkg="topic_tools" exec="relay" name="traffic_light_image_relay" args="$(var traffic_light_image_original_name) $(var traffic_light_image_topic_name)"/>
+  <node pkg="topic_tools" exec="relay" name="traffic_light_info_relay" args="$(var traffic_light_info_original_name) $(var traffic_light_info_topic_name)"/>
+
+  <group scoped="false">
+    <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
+      <!-- Common -->
+      <arg name="map_path" value="$(var map_path)"/>
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="data_path" value="$(var data_path)"/>
+      <!-- launch module preset -->
+      <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
+      <!-- Modules to be launched -->
+      <arg name="launch_vehicle" value="$(var vehicle)"/>
+      <arg name="launch_map" value="$(var map)"/>
+      <arg name="launch_sensing" value="$(var sensing)"/>
+      <arg name="launch_localization" value="$(var localization)"/>
+      <arg name="launch_perception" value="$(var perception)"/>
+      <arg name="launch_planning" value="$(var planning)"/>
+      <arg name="launch_control" value="$(var control)"/>
+      <!-- Global parameters -->
+      <arg name="use_sim_time" value="true"/>
+      <!-- Vehicle -->
+      <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
+      <!-- Map -->
+      <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
+      <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
+      <!-- System -->
+      <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+      <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
+      <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
+      <!-- Sensing -->
+      <arg name="launch_sensing_driver" value="false"/>
+      <!-- Perception-->
+      <arg name="perception_mode" value="lidar"/>
+      <arg name="use_traffic_light_recognition" value="true"/>
+      <arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
+      <arg name="traffic_light_recognition/fusion_only" value="false"/>
+      <arg name="lidar_detection_model" value="centerpoint"/>
+      <!-- Tools -->
+      <arg name="rviz" value="$(var rviz)"/>
+      <arg name="rviz_config" value="$(var rviz_config)"/>
+    </include>
+  </group>
+</launch>