diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
index 4fdacc2656..1c7b520108 100644
--- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml
@@ -1,10 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Fork the repository and add the parameters here if needed. -->
-  <arg name="launch_deprecated_api" default="true"/>
-  <arg name="rosbridge_enabled" default="true"/>
-  <arg name="rosbridge_max_message_size" default="1000000000"/>
-  <group>
-    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
-  </group>
+  <arg name="scenario_simulation" default="false"/>
+  <arg name="launch_deprecated_api" default="$(var scenario_simulation)"/>
+  <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
 </launch>