diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 0e60b59197df1..fb59bcefd13f6 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -12,79 +12,99 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
 
   <!-- Global parameters -->
+  <!-- Do not add "group" in order to propagate global parameters -->
   <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
   <!-- Pointcloud container -->
-  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
-    <arg name="use_multithread" value="true"/>
-    <arg name="container_name" value="$(var pointcloud_container_name)"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
+      <arg name="use_multithread" value="true"/>
+      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+  </group>
 
   <!-- Vehicle -->
-  <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="$(var sensor_model)"/>
-  </include>
+  <group>
+    <include file="$(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)"/>
+    </include>
+  </group>
 
   <!-- System -->
-  <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
-    <arg name="run_mode" value="online"/>
-    <arg name="sensor_model" value="$(var sensor_model)"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
+      <arg name="run_mode" value="online"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+    </include>
+  </group>
 
   <!-- Map -->
-  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
-    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
-    <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+      <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+      <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+    </include>
+  </group>
 
   <!-- Sensing -->
-  <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
-    <arg name="launch_driver" value="true"/>
-    <arg name="sensor_model" value="$(var sensor_model)"/>
-    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
+      <arg name="launch_driver" value="true"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+  </group>
 
   <!-- Localization -->
-  <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml"/>
+  </group>
 
   <!-- Perception -->
-  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
-    <arg name="mode" value="lidar"/>
-    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
+      <arg name="mode" value="lidar"/>
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+  </group>
 
   <!-- Planning -->
-  <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
-    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
 
   <!-- Control -->
-  <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
-    <arg name="lateral_controller_mode" value="mpc_follower"/>
-    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
+      <arg name="lateral_controller_mode" value="mpc_follower"/>
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
 
-  <!-- Rviz -->
-  <node
-    pkg="rviz2"
-    exec="rviz2"
-    name="rviz2"
-    output="screen"
-    args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
-    if="$(var rviz)"
-  >
-  </node>
+  <!-- Tools -->
+  <group>
+    <!-- Rviz -->
+    <node
+      pkg="rviz2"
+      exec="rviz2"
+      name="rviz2"
+      output="screen"
+      args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
+      if="$(var rviz)"
+    />
 
-  <!-- Web Controller -->
-  <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
+    <!-- Web Controller -->
+    <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
+  </group>
 
 </launch>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 2896ad95e8321..b471014d5e3cf 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -26,16 +26,19 @@
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
 
   <!-- Global parameters -->
+  <!-- Do not add "group" in order to propagate global parameters -->
   <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
     <arg name="use_sim_time" value="true"/>
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
   <!-- Pointcloud container -->
-  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
-    <arg name="use_multithread" value="true"/>
-    <arg name="container_name" value="$(var pointcloud_container_name)"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
+      <arg name="use_multithread" value="true"/>
+      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+  </group>
 
   <!-- Vehicle -->
   <group>
@@ -77,8 +80,7 @@
 
   <!-- Localization -->
   <group>
-    <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml" if="$(var localization)">
-    </include>
+    <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml" if="$(var localization)"/>
   </group>
 
   <!-- Perception -->
@@ -106,27 +108,29 @@
     </include>
   </group>
 
-  <!-- Rviz -->
-  <node
-    pkg="rviz2"
-    exec="rviz2"
-    name="rviz2"
-    output="screen"
-    args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
-    if="$(var rviz)"
-  >
-  </node>
-
-  <!-- Web Controller -->
+  <!-- Tools -->
   <group>
+    <!-- Rviz -->
+    <node
+      pkg="rviz2"
+      exec="rviz2"
+      name="rviz2"
+      output="screen"
+      args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
+      if="$(var rviz)"
+    />
+
+    <!-- Web Controller -->
     <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
   </group>
 
   <!-- Simulator -->
-  <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
-    <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
-    <arg name="vehicle_simulation" value="false"/>
-    <arg name="vehicle_model" value="$(var vehicle_model)"/>
-    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
+      <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
+      <arg name="vehicle_simulation" value="false"/>
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
 </launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 81791c52c8974..344b0543b245b 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -24,58 +24,74 @@
   </include>
 
   <!-- Vehicle -->
-  <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="$(var sensor_model)"/>
-    <arg name="simulation" value="$(var vehicle_simulation)"/>
-  </include>
+  <group>
+    <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="$(var sensor_model)"/>
+      <arg name="simulation" value="$(var vehicle_simulation)"/>
+    </include>
+  </group>
 
   <!-- System -->
-  <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
-    <arg name="run_mode" value="planning_simulation"/>
-    <arg name="sensor_model" value="$(var sensor_model)"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
+      <arg name="run_mode" value="planning_simulation"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+    </include>
+  </group>
 
   <!-- Map -->
-  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
-    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
-    <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+      <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+      <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+    </include>
+  </group>
 
   <!-- Planning -->
-  <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
-    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
 
   <!-- Control -->
-  <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
-    <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
-    <arg name="lateral_controller_mode" value="mpc_follower"/>
-    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
+      <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
+      <arg name="lateral_controller_mode" value="mpc_follower"/>
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
 
   <!-- Initial Pose Relay -->
+  <group>
     <node pkg="topic_tools" exec="relay" name="initial_pose_2d">
       <param name="input_topic" value="/initialpose"/>
       <param name="output_topic" value="/initialpose2d"/>
       <param name="type" value="geometry_msgs/msg/PoseWithCovarianceStamped"/>
     </node>
+  </group>
 
   <!-- Rviz -->
-  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)"/>
+  <group>
+    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)"/>
 
-  <!-- Web Controller -->
-  <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" unless="$(var scenario_simulation)"/>
+    <!-- Web Controller -->
+    <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" unless="$(var scenario_simulation)"/>
+  </group>
 
   <!-- Simulator -->
-  <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
-    <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
-    <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
-    <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
-    <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
-    <arg name="vehicle_simulation" value="$(var vehicle_simulation)"/>
-    <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="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
+      <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
+      <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
+      <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+      <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
+      <arg name="vehicle_simulation" value="$(var vehicle_simulation)"/>
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
 </launch>