diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
index 9313960323..79f8b3d50b 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
+++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -17,7 +17,6 @@
 from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
-from launch.actions import ExecuteProcess
 from launch.actions import IncludeLaunchDescription
 from launch.actions import SetLaunchConfiguration
 from launch.conditions import IfCondition
@@ -134,32 +133,7 @@ def generate_launch_description():
             ("~/input/perception", "/perception/object_recognition/objects"),
             ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/scenario", "/planning/scenario_planning/scenario"),
-            (
-                "~/input/external_approval",
-                "/planning/scenario_planning/lane_driving/behavior_planning/"
-                "behavior_path_planner/path_change_approval",
-            ),
-            (
-                "~/input/force_approval",
-                "/planning/scenario_planning/lane_driving/behavior_planning/"
-                "behavior_path_planner/path_change_force",
-            ),
             ("~/output/path", "path_with_lane_id"),
-            (
-                "~/output/ready",
-                "/planning/scenario_planning/lane_driving/behavior_planning/"
-                "behavior_path_planner/ready_module",
-            ),
-            (
-                "~/output/running",
-                "/planning/scenario_planning/lane_driving/behavior_planning/"
-                "behavior_path_planner/running_modules",
-            ),
-            (
-                "~/output/force_available",
-                "/planning/scenario_planning/lane_driving/behavior_planning/"
-                "behavior_path_planner/force_available",
-            ),
             ("~/output/turn_indicators_cmd", "/planning/turn_indicators_cmd"),
             ("~/output/hazard_lights_cmd", "/planning/hazard_lights_cmd"),
         ],
@@ -474,18 +448,5 @@ def generate_launch_description():
             set_container_mt_executable,
             container,
             load_compare_map,
-            ExecuteProcess(
-                cmd=[
-                    "ros2",
-                    "topic",
-                    "pub",
-                    "/planning/scenario_planning/lane_driving/behavior_planning/"
-                    "behavior_path_planner/path_change_approval",
-                    "tier4_planning_msgs/msg/Approval",
-                    "{approval: true}",
-                    "-r",
-                    "10",
-                ]
-            ),
         ]
     )
diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index eaf8370d59..9922f6c15d 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -2,20 +2,12 @@
   <arg name="input_route_topic_name" default="/planning/mission_planning/route" />
   <arg name="map_topic_name" default="/map/vector_map" />
 
-  <executable cmd="ros2 topic pub /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval
-                   tier4_planning_msgs/msg/Approval 'approval: true' -r 10"/>
-
   <node pkg="behavior_path_planner" exec="behavior_path_planner" name="behavior_path_planner" output="screen">
     <remap from="~/input/route" to="$(var input_route_topic_name)" />
     <remap from="~/input/vector_map" to="$(var map_topic_name)" />
     <remap from="~/input/perception" to="/perception/object_recognition/objects" />
     <remap from="~/input/odometry" to="/localization/kinematic_state" />
-    <remap from="~/input/external_approval" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval" />
-    <remap from="~/input/force_approval" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_force" />
     <remap from="~/output/path" to="path_with_lane_id" />
-    <remap from="~/output/ready" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/ready_module" />
-    <remap from="~/output/running" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/running_modules" />
-    <remap from="~/output/force_available" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/force_available" />
     <remap from="~/output/turn_indicators_cmd" to="/planning/turn_signal_cmd" />
     <remap from="~/output/hazard_lights_cmd" to="/planning/hazard_signal_cmd" />
     <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml" />