diff --git a/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml b/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml
new file mode 100644
index 0000000000..a8480351a1
--- /dev/null
+++ b/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml
@@ -0,0 +1,34 @@
+/**:
+  ros__parameters:
+    common:
+      database_storage: "mcap"                     # sqlite3 or mcap
+      maximum_record_time: 36000                   # seconds
+      maximum_allowed_bag_storage_size: 500.0      # GB
+      maximum_bag_file_size: 20.0                  # GB
+      enable_only_auto_mode_recording: false       # if enabled, recording occurs only "AUTO" mode
+      record_all_topic_in_a_bag: true              # creates single bag file with input and other topics
+      number_of_maximum_bags: 1000                 # limit of stored bag file count
+      path: "bags/"                                # Path to bag file for saving
+      prefix: "logging_ros2bag_"
+      minimum_acceptable_disk_space: 50            # GB
+      disk_space_threshold_action: "shutdown"      # [remove, shutdown] remove files or shutdown node
+    raw_input_topics:                              # for rosbag-replay (logging) simulation
+      record_raw_input: true
+      raw_input_topics:
+        - /sensing/gnss/ublox/fix_velocity
+        - /sensing/gnss/ublox/nav_sat_fix
+        - /sensing/imu/tamagawa/imu_raw
+        - /sensing/lidar/left/velodyne_packets
+        - /sensing/lidar/right/velodyne_packets
+        - /sensing/lidar/top/velodyne_packets
+        - /vehicle/status/control_mode
+        - /vehicle/status/gear_status
+        - /vehicle/status/steering_status
+        - /vehicle/status/velocity_status
+    other_topics:                                  # all other topics
+      record_other: false
+      other_topics:
+        - /perception/obstacle_segmentation/pointcloud
+        - /perception/object_recognition/objects
+        - /planning/scenario_planning/trajectory
+        - /planning/scenario_planning/lane_driving/behavior_planning/path
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 5d98c9388f..11ce0731fa 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -38,6 +38,7 @@
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <arg name="rviz_respawn" default="true"/>
+  <arg name="bag_recorder" default="false" description="launch autoware_bag_recorder"/>
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
@@ -122,5 +123,8 @@
       if="$(var rviz)"
       respawn="$(var rviz_respawn)"
     />
+    <include if="$(var bag_recorder)" file="$(find-pkg-share autoware_bag_recorder)/launch/autoware_bag_recorder.launch.xml">
+      <arg name="bag_recorder_param_path" value="$(find-pkg-share autoware_launch)/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml"/>
+    </include>
   </group>
 </launch>