diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 29a1a56744..05047c0136 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -26,6 +26,7 @@
     <arg name="namespace1" value="camera7"/>
     <arg name="remove_unknown" value="false"/>
     <arg name="trust_distance" value="100.0"/>
+    <arg name="external/traffic_signals" value="/v2x/traffic_signals"/>
 
     <!-- object recognition -->
     <arg name="object_recognition_detection_compare_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/compare_map.param.yaml"/>
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
index bd191f7a56..576ccb4ec4 100644
--- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -25,6 +25,7 @@
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
     <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
     <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
+    <arg name="external/traffic_signals" value="/v2x/traffic_signals"/>
 
     <arg name="fault_injection_param_path" value="$(find-pkg-share autoware_launch)/config/simulator/fault_injection.param.yaml"/>
     <arg