diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index 58b685919..128fdcbde 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -120,6 +120,30 @@ def generate_launch_description():
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    # obstacle velocity planner
+    # TODO(murooka) use launcher param
+    obstacle_velocity_planner_param_path = os.path.join(
+        get_package_share_directory("obstacle_velocity_planner"),
+        "config",
+        "obstacle_velocity_planner.param.yaml",
+    )
+    with open(obstacle_velocity_planner_param_path, "r") as f:
+        obstacle_velocity_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+    obstacle_velocity_planner_component = ComposableNode(
+        package="obstacle_velocity_planner",
+        plugin="ObstacleVelocityPlanner",
+        name="obstacle_velocity_planner",
+        namespace="",
+        remappings=[
+            ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
+            ("~/input/trajectory", "surround_obstacle_checker/trajectory"),
+        ],
+        parameters=[
+            obstacle_velocity_planner_param,
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
     # obstacle stop planner
     obstacle_stop_planner_param_path = os.path.join(
         get_package_share_directory("planning_launch"),
@@ -181,7 +205,8 @@ def generate_launch_description():
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[
             obstacle_avoidance_planner_component,
-            obstacle_stop_planner_component,
+            obstacle_velocity_planner_component,
+            # obstacle_stop_planner_component,
         ],
     )