diff --git a/README.md b/README.md
index 94519ba3a9ae6..b1ff82b201da0 100644
--- a/README.md
+++ b/README.md
@@ -20,7 +20,6 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map
 - [control_launch](./control_launch)
 - [integration_launch](./integration_launch)
 - [localization_launch](./localization_launch)
-- [map_launch](./map_launch)
 - [perception_launch](./perception_launch)
 - [planning_launch](./planning_launch)
 - [sensing_launch](./sensing_launch)
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
index ff6f4dba9286c..7fc7ef25bf7e5 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -13,7 +13,6 @@
   <exec_depend>control_launch</exec_depend>
   <exec_depend>global_parameter_loader</exec_depend>
   <exec_depend>localization_launch</exec_depend>
-  <exec_depend>map_launch</exec_depend>
   <exec_depend>perception_launch</exec_depend>
   <exec_depend>planning_launch</exec_depend>
   <exec_depend>python3-bson</exec_depend>
@@ -22,6 +21,7 @@
   <exec_depend>sensing_launch</exec_depend>
   <exec_depend>simulator_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
+  <exec_depend>tier4_map_launch</exec_depend>
   <exec_depend>vehicle_launch</exec_depend>
   <exec_depend>web_controller</exec_depend>
 
diff --git a/integration_launch/package.xml b/integration_launch/package.xml
index 07cf7e3a129c1..e27b57bd88003 100644
--- a/integration_launch/package.xml
+++ b/integration_launch/package.xml
@@ -10,7 +10,6 @@
 
   <exec_depend>control_launch</exec_depend>
   <exec_depend>localization_launch</exec_depend>
-  <exec_depend>map_launch</exec_depend>
   <exec_depend>perception_launch</exec_depend>
   <exec_depend>planning_launch</exec_depend>
   <exec_depend>python3-bson</exec_depend>
@@ -18,6 +17,7 @@
   <exec_depend>rviz2</exec_depend>
   <exec_depend>sensing_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
+  <exec_depend>tier4_map_launch</exec_depend>
   <exec_depend>vehicle_launch</exec_depend>
   <exec_depend>web_controller</exec_depend>