diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 61d25a7df5..d2e637c004 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -23,6 +23,7 @@
   <arg name="launch_planning" default="true" description="launch planning"/>
   <arg name="launch_control" default="true" description="launch control"/>
   <arg name="launch_v2x" default="true" description="launch V2X"/>
+  <arg name="launch_l4_toolkit" default="true" description="launch L4 Toolkit"/>
   <!-- Global parameters -->
   <arg name="use_sim_time" default="false" description="use_sim_time"/>
   <!-- Vehicle -->
@@ -127,6 +128,11 @@
     </include>
   </group>
 
+  <!-- L4 Toolkit -->
+  <group if="$(var launch_l4_toolkit)">
+    <include file="$(find-pkg-share l4_toolkit_launch)/launch/l4_toolkit.launch.xml"/>
+  </group>
+
   <!-- Tools -->
   <group>
     <node
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 14de97ac56..32162e3927 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -76,6 +76,8 @@
       <arg name="centerpoint_model_path" value="$(var centerpoint_model_path)"/>
       <!-- V2X -->
       <arg name="launch_v2x" value="false"/>
+      <!-- L4 Toolkit -->
+      <arg name="launch_l4_toolkit" value="true"/>
     </include>
   </group>
 </launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 7255c401a0..f268add825 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -65,6 +65,8 @@
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
       <!-- V2X -->
       <arg name="launch_v2x" value="false"/>
+      <!-- L4 Toolkit -->
+      <arg name="launch_l4_toolkit" value="true"/>
     </include>
   </group>