diff --git a/launch/tier4_localization_launch/config/localization_error_monitor.param.yaml b/launch/tier4_localization_launch/config/localization_error_monitor.param.yaml
new file mode 100644
index 000000000000..026daf0532d3
--- /dev/null
+++ b/launch/tier4_localization_launch/config/localization_error_monitor.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    scale: 3.0
+    error_ellipse_size: 1.0
+    warn_ellipse_size: 0.8
+    error_ellipse_size_lateral_direction: 0.3
+    warn_ellipse_size_lateral_direction: 0.2
diff --git a/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
index f7f356ee1b44..515b1d6f3696 100644
--- a/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
@@ -2,10 +2,6 @@
 <launch>
   <include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
     <arg name="input/pose_with_cov" value="/localization/pose_with_covariance"/>
-    <arg name="scale" value="3.0"/>
-    <arg name="error_ellipse_size" value="1.0"/>
-    <arg name="warn_ellipse_size" value="0.8"/>
-    <arg name="error_ellipse_size_lateral_direction" value="1.0"/>
-    <arg name="warn_ellipse_size_lateral_direction" value="0.8"/>
+    <arg name="param_file" value="$(find-pkg-share tier4_localization_launch)/config/localization_error_monitor.param.yaml"/>
   </include>
 </launch>
diff --git a/localization/localization_error_monitor/config/localization_error_monitor.param.yaml b/localization/localization_error_monitor/config/localization_error_monitor.param.yaml
new file mode 100644
index 000000000000..026daf0532d3
--- /dev/null
+++ b/localization/localization_error_monitor/config/localization_error_monitor.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    scale: 3.0
+    error_ellipse_size: 1.0
+    warn_ellipse_size: 0.8
+    error_ellipse_size_lateral_direction: 0.3
+    warn_ellipse_size_lateral_direction: 0.2
diff --git a/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml b/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml
index 5ffb0981b482..dc7359bc90aa 100644
--- a/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml
+++ b/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml
@@ -1,17 +1,9 @@
 <launch>
   <arg name="input/pose_with_cov" default="/localization/pose_with_covariance"/>
-  <arg name="scale" default="3.0"/>
-  <arg name="error_ellipse_size" default="1.0"/>
-  <arg name="warn_ellipse_size" default="0.8"/>
-  <arg name="error_ellipse_size_lateral_direction" default="0.3"/>
-  <arg name="warn_ellipse_size_lateral_direction" default="0.2"/>
+  <arg name="param_file" default="$(find-pkg-share localization_error_monitor)/config/localization_error_monitor.param.yaml"/>
 
   <node name="localization_error_monitor" exec="localization_error_monitor" pkg="localization_error_monitor" output="screen">
     <remap from="input/pose_with_cov" to="$(var input/pose_with_cov)"/>
-    <param name="scale" value="$(var scale)"/>
-    <param name="error_ellipse_size" value="$(var error_ellipse_size)"/>
-    <param name="warn_ellipse_size" value="$(var warn_ellipse_size)"/>
-    <param name="error_ellipse_size_lateral_direction" value="$(var error_ellipse_size_lateral_direction)"/>
-    <param name="warn_ellipse_size_lateral_direction" value="$(var warn_ellipse_size_lateral_direction)"/>
+    <param from="$(var param_file)"/>
   </node>
 </launch>