diff --git a/build_depends.repos b/build_depends.repos
index 5a12a67dbd346..f7b3f12484015 100644
--- a/build_depends.repos
+++ b/build_depends.repos
@@ -41,8 +41,3 @@ repositories:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
     version: main
-  #vehicle
-  vehicle/sample_vehicle_launch:
-    type: git
-    url: https://github.com/autowarefoundation/sample_vehicle_launch.git
-    version: main
diff --git a/common/global_parameter_loader/CMakeLists.txt b/common/global_parameter_loader/CMakeLists.txt
index eaca44c515452..e67ae1a5c06fc 100644
--- a/common/global_parameter_loader/CMakeLists.txt
+++ b/common/global_parameter_loader/CMakeLists.txt
@@ -4,11 +4,6 @@ project(global_parameter_loader)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-if(BUILD_TESTING)
-  file(GLOB_RECURSE test_files test/*.cpp)
-  ament_add_ros_isolated_gtest(test_global_params_launch ${test_files})
-endif()
-
 ament_auto_package(
   INSTALL_TO_SHARE
     launch
diff --git a/common/global_parameter_loader/package.xml b/common/global_parameter_loader/package.xml
index 78d08e4038250..4c2568b9aec98 100644
--- a/common/global_parameter_loader/package.xml
+++ b/common/global_parameter_loader/package.xml
@@ -10,10 +10,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>sample_vehicle_description</depend>
-  <depend>vehicle_info_util</depend>
+  <exec_depend>vehicle_info_util</exec_depend>
 
-  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
diff --git a/common/global_parameter_loader/test/test_global_params_launch.cpp b/common/global_parameter_loader/test/test_global_params_launch.cpp
deleted file mode 100644
index 2b33a695253ff..0000000000000
--- a/common/global_parameter_loader/test/test_global_params_launch.cpp
+++ /dev/null
@@ -1,44 +0,0 @@
-// Copyright 2023 The Autoware Foundation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gtest/gtest.h>
-
-#include <cstdlib>
-#include <iostream>
-#include <string>
-
-TEST(TestLaunchFile, test_launch_file)
-{
-  // Define the path of Python launch file
-  std::string global_params_launch_path = "global_params.launch.py";
-
-  // Define the parameters you want to pass to the launch file
-  std::string use_sim_time_param = "false";
-  std::string vehicle_model_param = "sample_vehicle";
-  // Construct the command to run the Python launch script with parameters
-  std::string command = "ros2 launch global_parameter_loader " + global_params_launch_path +
-                        " use_sim_time:=" + use_sim_time_param +
-                        " vehicle_model:=" + vehicle_model_param;
-
-  // Use the system() function to execute the command
-  int result = std::system(command.c_str());
-  // Check the result of running the launch file
-  EXPECT_EQ(result, 0);
-}
-
-int main(int argc, char * argv[])
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}