diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
index 66589d522..d160c8ec0 100644
--- a/control_launch/launch/control.launch.py
+++ b/control_launch/launch/control.launch.py
@@ -110,8 +110,14 @@ def launch_setup(context, *args, **kwargs):
         name="shift_decider",
         remappings=[
             ("input/control_cmd", "/control/trajectory_follower/control_cmd"),
+            ("input/state", "/autoware/state"),
             ("output/gear_cmd", "/control/shift_decider/gear_cmd"),
         ],
+        parameters=[
+            {
+                "park_on_goal": True,
+            }
+        ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )