diff --git a/perception/cluster_merger/CMakeLists.txt b/perception/cluster_merger/CMakeLists.txt
index 49506f4b439fb..5ad0de572b44f 100644
--- a/perception/cluster_merger/CMakeLists.txt
+++ b/perception/cluster_merger/CMakeLists.txt
@@ -24,4 +24,5 @@ endif()
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/perception/cluster_merger/config/cluster_merger.param.yaml b/perception/cluster_merger/config/cluster_merger.param.yaml
new file mode 100644
index 0000000000000..adca6c203282f
--- /dev/null
+++ b/perception/cluster_merger/config/cluster_merger.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    output_frame_id: "base_link"
diff --git a/perception/cluster_merger/launch/cluster_merger.launch.xml b/perception/cluster_merger/launch/cluster_merger.launch.xml
index 1bbd0ebd91e12..f0f90efe051a0 100644
--- a/perception/cluster_merger/launch/cluster_merger.launch.xml
+++ b/perception/cluster_merger/launch/cluster_merger.launch.xml
@@ -3,12 +3,12 @@
   <arg name="output/clusters" default="output/clusters"/>
   <arg name="input/cluster0" default="input/cluster0"/>
   <arg name="input/cluster1" default="input/cluster1"/>
-  <arg name="output_frame_id" default="base_link"/>
+  <arg name="param_path" default="$(find-pkg-share cluster_merger)/config/cluster_merger.param.yaml"/>
   <!-- Node -->
   <node pkg="cluster_merger" exec="cluster_merger_node" name="cluster_merger" output="screen">
     <remap from="~/output/clusters" to="$(var output/clusters)"/>
     <remap from="input/cluster0" to="$(var input/cluster0)"/>
     <remap from="input/cluster1" to="$(var input/cluster1)"/>
-    <param name="output_frame_id" value="$(var output_frame_id)"/>
+    <param from="$(var param_path)"/>
   </node>
 </launch>