diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index ebf050ea02..3300582133 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -2,6 +2,8 @@
 <launch>
   <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
+  <arg name="lidar_detection_model" default="pointpainting" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="traffic_light_recognition/fusion_only" default="true" description="Whether to start only some of the signal recognition related nodes"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
@@ -13,11 +15,11 @@
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="input/pointcloud" value="/sensing/lidar/concatenated/pointcloud"/>
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
-    <arg name="lidar_detection_model" value="pointpainting"/>
+    <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share ml_model_provider)/config"/>
     <arg name="centerpoint_model_name" value="centerpoint_xx1"/>
     <arg name="centerpoint_model_path" value="$(find-pkg-share ml_model_provider)/data"/>
-    <arg name="traffic_light_recognition/fusion_only" value="true"/>
+    <arg name="traffic_light_recognition/fusion_only" value="$(var traffic_light_recognition/fusion_only)"/>
     <arg name="remove_unknown" value="false"/>
     <arg name="trust_distance" value="100.0"/>
 
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 5161ca155f..ae207dcf71 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -46,7 +46,6 @@
   <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 '{}'"/>
-  <arg name="camera6_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera6/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
 
   <executable cmd="$(var camera0_pub)" name="camera0" shell="true"/>
   <executable cmd="$(var camera1_pub)" name="camera1" shell="true"/>
@@ -54,7 +53,14 @@
   <executable cmd="$(var camera3_pub)" name="camera3" shell="true"/>
   <executable cmd="$(var camera4_pub)" name="camera4" shell="true"/>
   <executable cmd="$(var camera5_pub)" name="camera5" shell="true"/>
-  <executable cmd="$(var camera6_pub)" name="camera6" 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="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
@@ -88,6 +94,7 @@
       <arg name="use_traffic_light_recognition" value="true"/>
       <arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
       <arg name="traffic_light_recognition/fusion_only" value="false"/>
+      <arg name="lidar_detection_model" value="centerpoint"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>