diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 5b14dd9849..daee5d1f31 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -4,6 +4,8 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
+
   <!-- Optional parameters -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
@@ -29,10 +31,11 @@
 
   <!-- Vehicle -->
   <group>
-    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
+    <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="launch_vehicle_interface" value="true"/>
+      <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
     </include>
   </group>
 
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 1e06453a48..65c153c3d3 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -44,11 +44,12 @@
 
   <!-- Vehicle -->
   <group>
-    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml" if="$(var vehicle)">
+    <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml" if="$(var vehicle)">
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="vehicle_id" value="$(var vehicle_id)"/>
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
+      <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
     </include>
   </group>
 
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index d6fb815672..f5291f3e5e 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -4,6 +4,8 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
+
   <!-- Optional parameters -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -30,10 +32,11 @@
     <let name="launch_vehicle_interface" value="false" if="$(var vehicle_simulation)"/>
     <let name="launch_vehicle_interface" value="true" unless="$(var vehicle_simulation)"/>
 
-    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
+    <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
+      <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
     </include>
   </group>
 
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
index 037f453faa..66defd0733 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -23,7 +23,7 @@
   <exec_depend>system_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
-  <exec_depend>vehicle_launch</exec_depend>
+  <exec_depend>tier4_vehicle_launch</exec_depend>
   <exec_depend>web_controller</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/vehicle_launch/CMakeLists.txt b/vehicle_launch/CMakeLists.txt
deleted file mode 100644
index f7f9c23733..0000000000
--- a/vehicle_launch/CMakeLists.txt
+++ /dev/null
@@ -1,18 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(vehicle_launch)
-
-add_compile_options(-std=c++14)
-
-find_package(ament_cmake_auto REQUIRED)
-
-ament_auto_find_build_dependencies()
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_auto_package(INSTALL_TO_SHARE
-    launch
-    urdf
-)
diff --git a/vehicle_launch/README.md b/vehicle_launch/README.md
deleted file mode 100644
index 837c12d023..0000000000
--- a/vehicle_launch/README.md
+++ /dev/null
@@ -1,65 +0,0 @@
-# vehicle_launch
-
-## Structure
-
-![vehicle_launch](./vehicle_launch.drawio.svg)
-
-## Package Dependencies
-
-Please see `<exec_depend>` in `package.xml`.
-
-## Usage
-
-You can include as follows in `*.launch.xml` to use `vehicle.launch.xml`.
-
-```xml
-  <arg name="vehicle_model" default="lexus" description="vehicle model name"/>
-  <arg name="sensor_model" default="aip_xx1" description="sensor model name"/>
-
-  <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
-    <arg name="vehicle_model" value="$(var vehicle_model)"/>
-    <arg name="sensor_model" value="$(var sensor_model)"/>
-  </include>
-```
-
-## Notes
-
-This package finds some external packages and settings with variables and package names.
-
-ex.)
-
-<https://github.com/tier4/autoware_launcher/blob/d880474/vehicle_launch/launch/vehicle_interface.launch.xml#L9>
-
-```xml
-<let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
-```
-
-<https://github.com/tier4/autoware_launcher/blob/d880474/vehicle_launch/launch/vehicle_description.launch.xml#L11>
-
-```xml
-<arg name="config_dir" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
-```
-
-## vehicle.xacro
-
-### Arguments
-
-| Name          | Type   | Description        | Default |
-| ------------- | ------ | ------------------ | ------- |
-| sensor_model  | String | sensor model name  | ""      |
-| vehicle_model | String | vehicle model name | ""      |
-
-### Usage
-
-You can write as follows in `*.launch.xml`.
-
-```xml
-  <arg name="vehicle_model" default="lexus" description="vehicle model name"/>
-  <arg name="sensor_model" default="aip_xx1" description="sensor model name"/>
-  <arg name="model" default="$(find-pkg-share vehicle_launch)/urdf/vehicle.xacro"/>
-
-  <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
-    <param name="robot_description" value="$(command 'xacro $(var model) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model)')"/>
-  </node>
-
-```
diff --git a/vehicle_launch/launch/vehicle.launch.xml b/vehicle_launch/launch/vehicle.launch.xml
deleted file mode 100644
index 24a3a19d81..0000000000
--- a/vehicle_launch/launch/vehicle.launch.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-  <arg name="launch_vehicle_interface"/>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
-  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
-  <arg name="initial_engage_state" default="false" description="/vehicle/engage state after starting Autoware"/>
-
-  <let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
-
-
-  <!-- vehicle description -->
-  <group>
-    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_description.launch.xml">
-      <arg name="vehicle_model" value="$(var vehicle_model)"/>
-      <arg name="sensor_model" value="$(var sensor_model)"/>
-      <arg name="vehicle_id" value="$(var vehicle_id)"/>
-    </include>
-  </group>
-
-  <!-- vehicle interface -->
-  <group if="$(var launch_vehicle_interface)">
-    <include file="$(var vehicle_model_pkg)/launch/vehicle_interface.launch.xml">
-      <arg name="vehicle_id" value="$(var vehicle_id)"/>
-      <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
-    </include>
-  </group>
-</launch>
diff --git a/vehicle_launch/launch/vehicle_description.launch.xml b/vehicle_launch/launch/vehicle_description.launch.xml
deleted file mode 100644
index 5a2bd35382..0000000000
--- a/vehicle_launch/launch/vehicle_description.launch.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-  <arg name="vehicle_model" description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
-  <arg name="vehicle_id" description="vehicle specific ID"/>
-
-
-  <!-- tf publisher -->
-  <arg name="model" default="$(find-pkg-share vehicle_launch)/urdf/vehicle.xacro" description="path to the file of model settings (*.xacro)"/>
-  <arg name="config_dir" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)" description="path to the directory of calibration parameters"/>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
-    <param name="robot_description" value="$(command 'xacro $(var model) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir)' 'warn')"/>
-  </node>
-
-</launch>
diff --git a/vehicle_launch/package.xml b/vehicle_launch/package.xml
deleted file mode 100644
index c598670ac7..0000000000
--- a/vehicle_launch/package.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>vehicle_launch</name>
-  <version>0.1.0</version>
-  <description>The vehicle_launch package</description>
-
-  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <exec_depend>camera_description</exec_depend>
-  <exec_depend>imu_description</exec_depend>
-  <exec_depend>livox_description</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>velodyne_description</exec_depend>
-  <exec_depend>xacro</exec_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>autoware_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/vehicle_launch/urdf/vehicle.xacro b/vehicle_launch/urdf/vehicle.xacro
deleted file mode 100644
index 30db9c6a7c..0000000000
--- a/vehicle_launch/urdf/vehicle.xacro
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0"?>
-<robot name="vehicle"
-  xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:arg name="vehicle_model" default=""/>
-  <xacro:arg name="sensor_model" default=""/>
-
-  <!-- vehicle -->
-  <xacro:property name="vehicle_model_property" value="$(arg vehicle_model)"/>
-  <xacro:include filename="$(find ${vehicle_model_property}_description)/urdf/vehicle.xacro"/>
-
-  <!-- sensors -->
-  <xacro:property name="sensor_model_property" value="$(arg sensor_model)"/>
-  <xacro:include filename="$(find ${sensor_model_property}_description)/urdf/sensors.xacro"/>
-
-</robot>
diff --git a/vehicle_launch/vehicle_launch.drawio.svg b/vehicle_launch/vehicle_launch.drawio.svg
deleted file mode 100644
index 13acf18829..0000000000
--- a/vehicle_launch/vehicle_launch.drawio.svg
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!-- Do not edit this file with editors other than diagrams.net -->
-<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1201px" height="481px" viewBox="-0.5 -0.5 1201 481" content="&lt;mxfile host=&quot;Electron&quot; modified=&quot;2021-10-21T09:48:48.710Z&quot; agent=&quot;5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/15.4.0 Chrome/91.0.4472.164 Electron/13.5.0 Safari/537.36&quot; version=&quot;15.4.0&quot; etag=&quot;sSAO-UrRxkeQpFu2CKcm&quot; type=&quot;device&quot;&gt;&lt;diagram id=&quot;hw8opUG3N7cuFXbovIOC&quot; name=&quot;ページ1&quot;&gt;7VpLk9soEP41rtocZkroZfnoeSR7yFZt1Rw2e5rCErbYSMKLsMfOr1+QQBICx44t72gmSQ4DLUBN98fXdMsT7z7ffaJwnf5BEpRNXCfZTbyHiesCL/D4HyHZ15LIl4IVxYkc1Aqe8DckhY6UbnCCSm0gIyRjeK0LY1IUKGaaDFJKXvRhS5Lpb13DFTIETzHMTOlfOGGp3IU7beW/I7xK1ZtBOKuf5FANljspU5iQl47Ie5x495QQVrfy3T3KhPGUXep5Hw88bRSjqGCnTHDrCVuYbeTetijFcYZuM7gp4vR2l/PhYcYXu1tQ3lqJ1mFJgrdiV2wvTRX+uyHyedvSZpRrWCjZGsZfK9PPhU61Is+1Imo430p3RkdcvVpJXU0Ll5JNkSCxZ4c/fkkxQ0/8ZeLpC4col6WMb9R7ALy5xFl2TzJCq7leHKNguRSaMkq+os4TL/RmXiJmkIJ15M5c/OfyLaIMc9jMM7wq+LMcJ4lQ6Q5KQczdhGijcddv0pViCbTriKQfPyGSI0b3fIg8RCCSmHppIQlCKUu7cFRCKI/BqlmrRQpvSLDYgeMdAs4zP5kxxWuGSTEwiLgh2I00nUBIhpbMBNZpIBoRWqp/F2JAPm145TuYcJ1rYcI3MGGYFhXJXBCwwH4GyxLHujXRDrMvnfbfwgm3gew97KRPqs5edQqu55dupzNLdNtpVU/NO2jvkmxojDSCZJCuENOgjxItSJg+6dg8sJhcySjKIMNbPbTY3CDf8CfBXN/G5WCmu9zte7LejZzVDQW9hVy/txDoLVTbwFioQkWz7ZOAErwtoAhPP0nVCGUpWZECZo+t9GwoKUuMBUtBDwL+uVjq8ZAfza6FJWCCSZE+FsF1yYn7VeLQ0QvOxPV/20LaiVK5uCl/6EbQN3XtGTCQ+WEPQI4lkNlOwmyAOAbCAfjpXK45g9dOY5/ApB8wLvppnKycfi79GOjpL3SAfrhH4b4zbC0GlBcSVAP+Fk0fYVYiE1LcC5/hgufKGpKMXOFgVkFRib/BRbWewIVUny8e3E2CB3liZTrNQW5FjsJ+/6g22bR8waSbsNqOsHPrREGo+eEGDIKTm8i6qlqALJclujSsWO8oiq9LnG/EDkjxweTclOSLTXmcbwdgyf6VzXcCgyWtKWA0AEu6Jkuq2sEOxpSMKNJeVEq4lob8L8wFJopFubb3Xyn0JwGKEt8W+iN34YXhdUP/FBzPYa9X11A1vLeSm5wU+z0z9AdgXKEf+JrTPefc0N9PYfqgGC7zcKPLCfCMhODdHPRZcPygWzE3yDmfGc4rUVESWo4uenXuHZWGo0oTxwWhBhrHIDTEBchz3mGoULc6rUoVjSxWDFSlMmLFxWmi/T2zvsKh8129jPFAG88btQbnBi7PzEh/HLijq2/YgDsbFXDDPt68M4E7VdnpyIGrbnGDAdeC005tviBFVQbRwllbsP9MyFoi7x/E2F4WQuCGkQPYBlcgWHBJHe5kAJ4cw8zvuCpJdgqYoxFdg1RHV+xnK4xH+skH5n0H2BgM9D/mnQUW8wOvUHpumFd4XLehbit5ULuGlaLTi502p+lu7RQ7/aG+r+v8Zrlt+hbjuwPY3n+Pl01VhNBidjiumO3ZQ+APx+ww6i00vd7ndRMrBU8Zf1H6IUpHgKexUxulz8KpB6+cxDZIeA1OD8xcgJIFYZVxIUPP680iw2WK6IhwU2n4fEC/nw0+/Y+d/+9vvgKzjkZY5Y1fZGNHy+tWzPo1j2uSDe+2v2Su41j7e3Dv8T8=&lt;/diagram&gt;&lt;/mxfile&gt;"><defs/><g><rect x="0" y="170" width="160" height="160" fill="#cce5ff" stroke="#36393d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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