diff --git a/src/perception2d_pkg/config/perception_mkmini_gazebo.yaml b/src/perception2d_pkg/config/perception_mkmini_gazebo.yaml
new file mode 100644
index 0000000..1dda7e9
--- /dev/null
+++ b/src/perception2d_pkg/config/perception_mkmini_gazebo.yaml
@@ -0,0 +1,16 @@
+# Gazebo produces a clean 2D ray scan. Keep nearby simulated obstacles so the
+# displayed scan and SLAM map reflect the physical collision geometry.
+pointcloud_to_laserscan:
+  ros__parameters:
+    use_inf: true
+    target_frame: os_lidar
+    transform_tolerance: 2.0
+    min_height: -0.46
+    max_height: 0.10
+    angle_min: -3.14159
+    angle_max: 3.14159
+    angle_increment: 0.0087
+    range_min: 0.2
+    range_max: 12.0
+    qos_overrides./scan.subscriber.reliability: best_effort
+    qos_overrides./scan.publisher.reliability: reliable
diff --git a/src/perception2d_pkg/launch/perception.launch.py b/src/perception2d_pkg/launch/perception.launch.py
index fd5b301..6ef4e79 100755
--- a/src/perception2d_pkg/launch/perception.launch.py
+++ b/src/perception2d_pkg/launch/perception.launch.py
@@ -20,15 +20,18 @@ from launch_ros.actions import Node
 
 
 ARGUMENTS = [
-    DeclareLaunchArgument('robot', default_value='fr09', choices=['fr09', 'mkmini'])
+    DeclareLaunchArgument('robot', default_value='fr09', choices=['fr09', 'mkmini']),
+    DeclareLaunchArgument('sim_mode', default_value='false'),
 ]
 
 
 def launch_setup(context, *args, **kwargs):
-    robot       = LaunchConfiguration('robot').perform(context)
+    robot = LaunchConfiguration('robot').perform(context)
+    sim_mode = LaunchConfiguration('sim_mode').perform(context).strip().lower() == 'true'
 
-    pkg_share  = get_package_share_directory('perception2d_pkg')
-    config_dir = os.path.join(pkg_share, 'config', f'perception_{robot}.yaml')
+    pkg_share = get_package_share_directory('perception2d_pkg')
+    config_name = 'perception_mkmini_gazebo.yaml' if sim_mode and robot == 'mkmini' else f'perception_{robot}.yaml'
+    config_dir = os.path.join(pkg_share, 'config', config_name)
 
     return [
         Node(
@@ -38,7 +41,7 @@ def launch_setup(context, *args, **kwargs):
             output='screen',
             parameters=[
                 config_dir,
-                {'use_sim_time': True},
+                {'use_sim_time': sim_mode},
             ],
             remappings=[
                 ('cloud_in', '/raw/lidar'), # 추후에 config에서 바꿀 수 있도록 변경하는게 좋을 것 같음.
diff --git a/src/perception_pkg/perception_pkg/launch_spec.py b/src/perception_pkg/perception_pkg/launch_spec.py
index 9936cd5..38b63e4 100755
--- a/src/perception_pkg/perception_pkg/launch_spec.py
+++ b/src/perception_pkg/perception_pkg/launch_spec.py
@@ -5,9 +5,10 @@ def build_perception_commands(config):
     cmds = []
     level = config.get("level")
     robot = config.get("robot", "")
+    sim_mode = str(config.get("sim_mode", False)).lower()
     if level and level != "None":
         cmds.append(["ros2", "launch", f"perception{level}_pkg",
-                     "perception.launch.py", f"robot:={robot}"])
+                     "perception.launch.py", f"robot:={robot}", f"sim_mode:={sim_mode}"])
     for entry in config.get("perception") or []:
         package = entry.get("package")
         if not package:
diff --git a/src/perception_pkg/test/test_launch_spec.py b/src/perception_pkg/test/test_launch_spec.py
index 5755123..06fac1d 100755
--- a/src/perception_pkg/test/test_launch_spec.py
+++ b/src/perception_pkg/test/test_launch_spec.py
@@ -2,8 +2,8 @@ from perception_pkg.launch_spec import build_perception_commands
 
 
 def test_level_only():
-    cmds = build_perception_commands({"level": "3d", "robot": "mkmini"})
-    assert ["ros2", "launch", "perception3d_pkg", "perception.launch.py", "robot:=mkmini"] in cmds
+    cmds = build_perception_commands({"level": "3d", "robot": "mkmini", "sim_mode": True})
+    assert ["ros2", "launch", "perception3d_pkg", "perception.launch.py", "robot:=mkmini", "sim_mode:=true"] in cmds
     assert len(cmds) == 1