diff --git a/edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml b/edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml
index bf00be6..572e0e9 100644
--- a/edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml
+++ b/edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml
@@ -9,14 +9,20 @@
   <arg name="output/objects" default="output/objects"/>
   <arg name="sync_param_path" default="$(find-pkg-share edge_auto_launch)/config/roi_sync.param.yaml"/>
 
+  <arg name="debug_mode" default="false"/>
+  <arg name="input/image0" default="input/image0"/>
+  <arg name="input/image1" default="input/image1"/>
+
   <!-- for eval variable-->
   <arg name="input_rois_number" default="$(var input/rois_number)"/>
 
   <group>
     <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/rois0" to="$(var input/rois0)"/>
     <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/camera_info0" to="$(var input/camera_info0)"/>
+    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/image_raw0" to="$(var input/image0)"/>
     <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/rois1" to="$(var input/rois1)"/>
     <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/camera_info1" to="$(var input/camera_info1)"/>
+    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/image_raw1" to="$(var input/image1)"/>
 
     <node pkg="image_projection_based_fusion" exec="roi_detected_object_fusion_node" name="roi_detected_object_fusion" output="screen">
       <param name="rois_number" value="$(var input/rois_number)"/>
@@ -27,7 +33,7 @@
       <param name="use_roi_probability" value="false"/>
       <param name="roi_probability_threshold" value="0.5"/>
       <param name="min_iou_threshold" value="0.3"/>
-      <param name="debug_mode" value="false"/>
+      <param name="debug_mode" value="$(var debug_mode)"/>
     </node>
   </group>
 </launch>
diff --git a/edge_auto_launch/launch/perception_at128_sample.launch.xml b/edge_auto_launch/launch/perception_at128_sample.launch.xml
index 80341a4..2a68609 100644
--- a/edge_auto_launch/launch/perception_at128_sample.launch.xml
+++ b/edge_auto_launch/launch/perception_at128_sample.launch.xml
@@ -65,6 +65,8 @@
         <arg name="input/camera_info0" value="/sensing/camera/camera0/camera_info"/>
         <arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
         <arg name="input/camera_info1" value="/sensing/camera/camera0/camera_info"/>
+        <arg name="input/image0" value="/sensing/camera/camera0/image_raw"/>
+        <arg name="input/image1" value="/sensing/camera/camera1/image_raw"/>
       </include>
     </group>
   </group>