diff --git a/launch/tier4_map_launch/CMakeLists.txt b/launch/tier4_map_launch/CMakeLists.txt
index 98f12b64f3ca4..b0e770d7c7619 100644
--- a/launch/tier4_map_launch/CMakeLists.txt
+++ b/launch/tier4_map_launch/CMakeLists.txt
@@ -7,4 +7,5 @@ autoware_package()
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/launch/tier4_map_launch/config/pointcloud_map_loader.param.yaml b/launch/tier4_map_launch/config/pointcloud_map_loader.param.yaml
new file mode 100644
index 0000000000000..8f3ccbff00360
--- /dev/null
+++ b/launch/tier4_map_launch/config/pointcloud_map_loader.param.yaml
@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    enable_whole_load: true
+    enable_downsampled_whole_load: false
+    enable_partial_load: false
+    enable_differential_load: false
+
+    # only used when downsample_whole_load enabled
+    leaf_size: 3.0 # downsample leaf size [m]
diff --git a/launch/tier4_map_launch/launch/map.launch.py b/launch/tier4_map_launch/launch/map.launch.py
index 231a805603a44..3be3082e58040 100644
--- a/launch/tier4_map_launch/launch/map.launch.py
+++ b/launch/tier4_map_launch/launch/map.launch.py
@@ -161,7 +161,11 @@ def add_launch_arg(name: str, default_value=None, description=None):
     ),
     add_launch_arg(
         "pointcloud_map_loader_param_path",
-        "",
+        [
+            FindPackageShare("tier4_map_launch"),
+            "/config/pointcloud_map_loader.param.yaml",
+            # ToDo(kminoda): This file should eventually be removed as well as the other components
+        ],
         "path to pointcloud_map_loader param file",
     ),
     add_launch_arg("use_intra_process", "false", "use ROS2 component container communication"),
diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml
index 7ecc61605eeac..39a398e7c1d77 100644
--- a/launch/tier4_map_launch/launch/map.launch.xml
+++ b/launch/tier4_map_launch/launch/map.launch.xml
@@ -1,6 +1,6 @@
 <launch>
   <!-- Parameter files -->
-  <arg name="pointcloud_map_loader_param_path"/>
+  <arg name="pointcloud_map_loader_param_path" default="$(find-pkg-share tier4_map_launch)/config/pointcloud_map_loader.param.yaml"/>
 
   <arg name="map_path" default=""/>
   <arg name="lanelet2_map_path" default="$(var map_path)/lanelet2_map.osm"/>