diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml
index be8934b962..2188a5bc09 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml
@@ -67,31 +67,39 @@ nodes:
   - path: /control/001-topic_status/control_command
     diag: "topic_state_monitor_control_command_control_cmd: control_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /control/003-gate_heartbeat
     diag: "vehicle_cmd_gate: heartbeat"
     type: diag
+    timeout: 1.0
 
   - path: /control/004-lane_departure
     diag: "lane_departure_checker_node: lane_departure"
     type: diag
+    timeout: 1.0
 
   - path: /control/005-trajectory_deviation
     diag: "lane_departure_checker_node: trajectory_deviation"
     type: diag
+    timeout: 1.0
 
   - path: /control/007-external_command_converter_heartbeat
     diag: "external_cmd_converter: remote_control_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /control/008-external_command_selector_heartbeat
     diag: "external_cmd_selector: heartbeat"
     type: diag
+    timeout: 1.0
 
   - path: /control/010-max_distance_deviation
     diag: "control_validator: control_validation_max_distance_deviation"
     type: diag
+    timeout: 1.0
 
   - path: /control/011-slip_detection
     diag: "slip_detector: slip_status"
     type: diag
+    timeout: 1.0
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml
index c228442c64..8854a4b6bc 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml
@@ -174,124 +174,163 @@ nodes:
   - path: /hardware/cpu/001-temperature
     diag: "cpu_monitor: CPU Temperature"
     type: diag
+    timeout: 3.0
   - path: /hardware/cpu/002-usage
     diag: "cpu_monitor: CPU Usage"
     type: diag
+    timeout: 3.0
   - path: /hardware/cpu/003-load_average
     diag: "cpu_monitor: CPU Load Average"
     type: diag
+    timeout: 3.0
   - path: /hardware/cpu/004-throttling
     diag: "cpu_monitor: CPU Thermal Throttling"
     type: diag
+    timeout: 3.0
   - path: /hardware/cpu/005-frequency
     diag: "cpu_monitor: CPU Frequency"
     type: diag
+    timeout: 3.0
 
   - path: /hardware/hdd/001-temperature
     diag: "hdd_monitor: HDD Temperature"
     type: diag
+    timeout: 3.0
   - path: /hardware/hdd/002-usage
     diag: "hdd_monitor: HDD Usage"
     type: diag
+    timeout: 3.0
   - path: /hardware/hdd/003-connection
     diag: "hdd_monitor: HDD Connection"
     type: diag
+    timeout: 3.0
   - path: /hardware/hdd/004-total_written
     diag: "hdd_monitor: HDD TotalDataWritten"
     type: diag
+    timeout: 3.0
   - path: /hardware/hdd/005-warranty_period
     diag: "hdd_monitor: HDD PowerOnHours"
     type: diag
+    timeout: 3.0
   - path: /hardware/hdd/006-soft_error
     diag: "hdd_monitor: HDD RecoveredError"
     type: diag
+    timeout: 3.0
   - path: /hardware/hdd/007-load/read_rate
     diag: "hdd_monitor: HDD ReadDataRate"
     type: diag
+    timeout: 3.0
   - path: /hardware/hdd/007-load/write_rate
     diag: "hdd_monitor: HDD WriteDataRate"
     type: diag
+    timeout: 3.0
   - path: /hardware/hdd/007-load/read_iops
     diag: "hdd_monitor: HDD ReadIOPS"
     type: diag
+    timeout: 3.0
   - path: /hardware/hdd/007-load/write_iops
     diag: "hdd_monitor: HDD WriteIOPS"
     type: diag
+    timeout: 3.0
 
   - path: /hardware/memory/001-usage
     diag: "mem_monitor: Memory Usage"
     type: diag
+    timeout: 3.0
   - path: /hardware/memory/002-ecc
     diag: "mem_monitor: Memory ECC"
     type: diag
+    timeout: 3.0
 
   - path: /hardware/network/001-usage
     diag: "net_monitor: Network Usage"
     type: diag
+    timeout: 3.0
   - path: /hardware/network/002-traffic
     diag: "net_monitor: Network Traffic"
     type: diag
+    timeout: 3.0
   - path: /hardware/network/003-crc
     diag: "net_monitor: Network CRC Error"
     type: diag
+    timeout: 3.0
   - path: /hardware/network/004-packet_reassembles
     diag: "net_monitor: IP Packet Reassembles Failed"
     type: diag
+    timeout: 3.0
 
   - path: /hardware/ntp/001-sync
     diag: "ntp_monitor: NTP Offset"
     type: diag
+    timeout: 10.0
 
   - path: /hardware/process/001-summary
     diag: "process_monitor: Tasks Summary"
     type: diag
+    timeout: 3.0
   - path: /hardware/process/002-load/proc-0
     diag: "process_monitor: High-load Proc[0]"
     type: diag
+    timeout: 3.0
   - path: /hardware/process/002-load/proc-1
     diag: "process_monitor: High-load Proc[1]"
     type: diag
+    timeout: 3.0
   - path: /hardware/process/002-load/proc-2
     diag: "process_monitor: High-load Proc[2]"
     type: diag
+    timeout: 3.0
   - path: /hardware/process/002-load/proc-3
     diag: "process_monitor: High-load Proc[3]"
     type: diag
+    timeout: 3.0
   - path: /hardware/process/002-load/proc-4
     diag: "process_monitor: High-load Proc[4]"
     type: diag
+    timeout: 3.0
   - path: /hardware/process/003-memory/proc-0
     diag: "process_monitor: High-mem Proc[0]"
     type: diag
+    timeout: 3.0
   - path: /hardware/process/003-memory/proc-1
     diag: "process_monitor: High-mem Proc[1]"
     type: diag
+    timeout: 3.0
   - path: /hardware/process/003-memory/proc-2
     diag: "process_monitor: High-mem Proc[2]"
     type: diag
+    timeout: 3.0
   - path: /hardware/process/003-memory/proc-3
     diag: "process_monitor: High-mem Proc[3]"
     type: diag
+    timeout: 3.0
   - path: /hardware/process/003-memory/proc-4
     diag: "process_monitor: High-mem Proc[4]"
     type: diag
+    timeout: 3.0
 
   - path: /hardware/gpu/001-temperature
     diag: "gpu_monitor: GPU Temperature"
     type: diag
+    timeout: 3.0
   - path: /hardware/gpu/002-usage
     diag: "gpu_monitor: GPU Usage"
     type: diag
+    timeout: 3.0
   - path: /hardware/gpu/003-memory
     diag: "gpu_monitor: GPU Memory Usage"
     type: diag
+    timeout: 3.0
   - path: /hardware/gpu/004-throttling
     diag: "gpu_monitor: GPU Thermal Throttling"
     type: diag
+    timeout: 3.0
   - path: /hardware/gpu/005-frequency
     diag: "gpu_monitor: GPU Frequency"
     type: diag
+    timeout: 3.0
 
   - path: /hardware/bios/001-battery
     diag: "voltage_monitor: CMOS Battery Status"
     type: diag
+    timeout: 3.0
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml
index a0e263c256..f8b6db43a6 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml
@@ -74,23 +74,29 @@ nodes:
   - path: /localization/001-topic_status/initialpose
     diag: "topic_state_monitor_initialpose3d: localization_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /localization/001-topic_status/pose_twist_fusion_filter
     diag: "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /localization/002-tf
     diag: "topic_state_monitor_transform_map_to_base_link: localization_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /localization/003-matching_score
     diag: ndt_scan_matcher
     type: diag
+    timeout: 1.0
 
   - path: /localization/004-accuracy
     diag: "localization_error_monitor: localization_accuracy"
     type: diag
+    timeout: 1.0
 
   - path: /localization/005-accuracy_lateral
     diag: "localization_error_monitor: localization_accuracy_lateral_direction"
     type: diag
+    timeout: 1.0
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml
index ad6479ef76..4c2aa69c0e 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml
@@ -50,7 +50,9 @@ nodes:
   - path: /map/001-topic_status/vector_map
     diag: "topic_state_monitor_vector_map: map_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /map/001-topic_status/pointcloud_map
     diag: "topic_state_monitor_pointcloud_map: map_topic_status"
     type: diag
+    timeout: 1.0
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/others.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/others.yaml
index bb369aa143..552bde17e9 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/others.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/others.yaml
@@ -78,43 +78,56 @@ nodes:
   - path: /others/002-blockage_validation/front_lower
     diag: "blockage_return_diag: /sensing/lidar/front_lower: blockage_validation"
     type: diag
+    timeout: 1.0
   - path: /others/002-blockage_validation/front_upper
     diag: "blockage_return_diag: /sensing/lidar/front_upper: blockage_validation"
     type: diag
+    timeout: 1.0
   - path: /others/002-blockage_validation/left_lower
     diag: "blockage_return_diag: /sensing/lidar/left_lower: blockage_validation"
     type: diag
+    timeout: 1.0
   - path: /others/002-blockage_validation/left_upper
     diag: "blockage_return_diag: /sensing/lidar/left_upper: blockage_validation"
     type: diag
+    timeout: 1.0
   - path: /others/002-blockage_validation/right_lower
     diag: "blockage_return_diag: /sensing/lidar/right_lower: blockage_validation"
     type: diag
+    timeout: 1.0
   - path: /others/002-blockage_validation/right_upper
     diag: "blockage_return_diag: /sensing/lidar/right_upper: blockage_validation"
     type: diag
+    timeout: 1.0
   - path: /others/002-blockage_validation/rear_lower
     diag: "blockage_return_diag: /sensing/lidar/rear_lower: blockage_validation"
     type: diag
+    timeout: 1.0
   - path: /others/002-blockage_validation/rear_upper
     diag: "blockage_return_diag: /sensing/lidar/rear_upper: blockage_validation"
     type: diag
+    timeout: 1.0
 
   - path: /others/004-concat_status
     diag: "concatenate_data: concat_status"
     type: diag
+    timeout: 1.0
 
   - path: /others/005-visibility_validation/left_upper
     diag: "dual_return_filter: /sensing/lidar/left_upper: visibility_validation"
     type: diag
+    timeout: 1.0
   - path: /others/005-visibility_validation/right_upper
     diag: "dual_return_filter: /sensing/lidar/right_upper: visibility_validation"
     type: diag
+    timeout: 1.0
 
   - path: /others/010-emergency_vehicle
     diag: "emergency_vehicle_detector: emergency_vehicle"
     type: diag
+    timeout: 1.0
 
   - path: /others/011-daytime_monitor
     diag: "daytime_monitor: daytime_status"
     type: diag
+    timeout: 1.0
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml
index e6b9ad5aa3..425cb97e17 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml
@@ -62,15 +62,19 @@ nodes:
   - path: /perception/001-topic_status/traffic_signals
     diag: "topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /perception/001-topic_status/objects
     diag: "topic_state_monitor_object_recognition_objects: perception_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /perception/001-topic_status/pointcloud
     diag: "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /perception/002-detection_delay
     diag: "multi_object_tracker: Perception delay check from original header stamp"
     type: diag
+    timeout: 1.0
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml
index e41e7d5c22..16aab65635 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml
@@ -116,10 +116,12 @@ nodes:
   - path: /planning/001-topic_status/route
     diag: "topic_state_monitor_mission_planning_route: planning_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /planning/001-topic_status/trajectory
     diag: "topic_state_monitor_scenario_planning_trajectory: planning_topic_status"
     type: diag
+    timeout: 1.0
 
   # Not implemented
   # - path: /planning/002-trajectory_size_validation
@@ -129,43 +131,54 @@ nodes:
   - path: /planning/003-trajectory_finite_validation
     diag: "planning_validator: trajectory_validation_finite"
     type: diag
+    timeout: 1.0
 
   - path: /planning/004-trajectory_interval_validation
     diag: "planning_validator: trajectory_validation_interval"
     type: diag
+    timeout: 1.0
 
   - path: /planning/005-trajectory_curvature_validation
     diag: "planning_validator: trajectory_validation_curvature"
     type: diag
+    timeout: 1.0
 
   - path: /planning/006-trajectory_relative_angle_validation
     diag: "planning_validator: trajectory_validation_relative_angle"
     type: diag
+    timeout: 1.0
 
   - path: /planning/007-trajectory_lateral_acceleration_validation
     diag: "planning_validator: trajectory_validation_lateral_acceleration"
     type: diag
+    timeout: 1.0
 
   - path: /planning/008-trajectory_acceleration_validation
     diag: "planning_validator: trajectory_validation_acceleration"
     type: diag
+    timeout: 1.0
 
   - path: /planning/009-trajectory_deceleration_validation
     diag: "planning_validator: trajectory_validation_deceleration"
     type: diag
+    timeout: 1.0
 
   - path: /planning/010-trajectory_steering_validation
     diag: "planning_validator: trajectory_validation_steering"
     type: diag
+    timeout: 1.0
 
   - path: /planning/011-trajectory_steering_rate_validation
     diag: "planning_validator: trajectory_validation_steering_rate"
     type: diag
+    timeout: 1.0
 
   - path: /planning/012-trajectory_velocity_deviation_validation
     diag: "planning_validator: trajectory_validation_velocity_deviation"
     type: diag
+    timeout: 1.0
 
   - path: /planning/013-collision_checker
     diag: "collision_checker: collision_check"
     type: diag
+    timeout: 1.0
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml
index ae0eedd419..08caf57125 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml
@@ -124,140 +124,183 @@ nodes:
   - path: /sensing/imu/001-monitor
     diag: "imu_monitor: yaw_rate_status"
     type: diag
+    timeout: 5.0
   - path: /sensing/imu/002-connection
     diag: "topic_state_monitor_imu_data: imu_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/imu/003-gyro_bias
     diag: "gyro_bias_estimator: gyro_bias_validator"
     type: diag
+    timeout: 1.0
 
   - path: /sensing/gnss/001-connection
     diag: "topic_state_monitor_gnss_pose: gnss_topic_status"
     type: diag
+    timeout: 5.0
   - path: /sensing/gnss/002-quality
     diag: "septentrio_driver: Quality indicators"
     type: diag
+    timeout: 5.0
 
   - path: /sensing/lidar/front_lower/connection
     diag: "pandar_monitor: /sensing/lidar/front_lower: pandar_connection"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/front_lower/ptp
     diag: "pandar_monitor: /sensing/lidar/front_lower: pandar_ptp"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/front_lower/temperature
     diag: "pandar_monitor: /sensing/lidar/front_lower: pandar_temperature"
     type: diag
+    timeout: 5.0
 
   - path: /sensing/lidar/front_upper/connection
     diag: "pandar_monitor: /sensing/lidar/front_upper: pandar_connection"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/front_upper/ptp
     diag: "pandar_monitor: /sensing/lidar/front_upper: pandar_ptp"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/front_upper/temperature
     diag: "pandar_monitor: /sensing/lidar/front_upper: pandar_temperature"
     type: diag
+    timeout: 5.0
 
   - path: /sensing/lidar/left_lower/connection
     diag: "pandar_monitor: /sensing/lidar/left_lower: pandar_connection"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/left_lower/ptp
     diag: "pandar_monitor: /sensing/lidar/left_lower: pandar_ptp"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/left_lower/temperature
     diag: "pandar_monitor: /sensing/lidar/left_lower: pandar_temperature"
     type: diag
+    timeout: 5.0
 
   - path: /sensing/lidar/left_upper/connection
     diag: "pandar_monitor: /sensing/lidar/left_upper: pandar_connection"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/left_upper/ptp
     diag: "pandar_monitor: /sensing/lidar/left_upper: pandar_ptp"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/left_upper/temperature
     diag: "pandar_monitor: /sensing/lidar/left_upper: pandar_temperature"
     type: diag
+    timeout: 5.0
 
   - path: /sensing/lidar/right_lower/connection
     diag: "pandar_monitor: /sensing/lidar/right_lower: pandar_connection"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/right_lower/ptp
     diag: "pandar_monitor: /sensing/lidar/right_lower: pandar_ptp"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/right_lower/temperature
     diag: "pandar_monitor: /sensing/lidar/right_lower: pandar_temperature"
     type: diag
+    timeout: 5.0
 
   - path: /sensing/lidar/right_upper/connection
     diag: "pandar_monitor: /sensing/lidar/right_upper: pandar_connection"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/right_upper/ptp
     diag: "pandar_monitor: /sensing/lidar/right_upper: pandar_ptp"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/right_upper/temperature
     diag: "pandar_monitor: /sensing/lidar/right_upper: pandar_temperature"
     type: diag
+    timeout: 5.0
 
   - path: /sensing/lidar/rear_lower/connection
     diag: "pandar_monitor: /sensing/lidar/rear_lower: pandar_connection"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/rear_lower/ptp
     diag: "pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/rear_lower/temperature
     diag: "pandar_monitor: /sensing/lidar/rear_lower: pandar_temperature"
     type: diag
+    timeout: 5.0
 
   - path: /sensing/lidar/rear_upper/connection
     diag: "pandar_monitor: /sensing/lidar/rear_upper: pandar_connection"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/rear_upper/ptp
     diag: "pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp"
     type: diag
+    timeout: 5.0
   - path: /sensing/lidar/rear_upper/temperature
     diag: "pandar_monitor: /sensing/lidar/rear_upper: pandar_temperature"
     type: diag
+    timeout: 5.0
 
   - path: /sensing/camera/0/connection
     diag: "topic_state_monitor_camera0: camera0_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/camera/1/connection
     diag: "topic_state_monitor_camera1: camera1_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/camera/2/connection
     diag: "topic_state_monitor_camera2: camera2_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/camera/3/connection
     diag: "topic_state_monitor_camera3: camera3_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/camera/4/connection
     diag: "topic_state_monitor_camera4: camera4_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/camera/5/connection
     diag: "topic_state_monitor_camera5: camera5_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/camera/6/connection
     diag: "topic_state_monitor_camera6: camera6_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/camera/7/connection
     diag: "topic_state_monitor_camera7: camera7_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /sensing/radar/front_center/connection
     diag: "topic_state_monitor_radar_front_center: radar_front_center_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/radar/front_left/connection
     diag: "topic_state_monitor_radar_front_left: radar_front_left_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/radar/front_right/connection
     diag: "topic_state_monitor_radar_front_right: radar_front_right_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/radar/rear_center/connection
     diag: "topic_state_monitor_radar_rear_center: radar_rear_center_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/radar/rear_left/connection
     diag: "topic_state_monitor_radar_rear_left: radar_rear_left_topic_status"
     type: diag
+    timeout: 1.0
   - path: /sensing/radar/rear_right/connection
     diag: "topic_state_monitor_radar_rear_right: radar_rear_right_topic_status"
     type: diag
+    timeout: 1.0
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml
index f64a1029c7..23c5a6467e 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml
@@ -60,19 +60,24 @@ nodes:
   - path: /system/001-topic_status
     diag: "topic_state_monitor_system_emergency_control_cmd: system_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /system/002-emergency_stop_operation
     diag: "vehicle_cmd_gate: emergency_stop_operation"
     type: diag
+    timeout: 1.0
 
   - path: /system/003-bagpacker_status
     diag: bagpacker_state
     type: diag
+    timeout: 3.0
 
   - path: /system/004-bagpacker_disk_space
     diag: bagpacker_state/disk_usage
     type: diag
+    timeout: 3.0
 
   - path: /system/005-fms_connection
     diag: edge_core_internet_connection
     type: diag
+    timeout: 10.0
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml
index 6a31c5510e..4f3190d572 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml
@@ -62,15 +62,19 @@ nodes:
   - path: /vehicle/001-topic_status/velocity
     diag: "topic_state_monitor_vehicle_status_velocity_status: vehicle_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /vehicle/001-topic_status/steering
     diag: "topic_state_monitor_vehicle_status_steering_status: vehicle_topic_status"
     type: diag
+    timeout: 1.0
 
   - path: /vehicle/005-vehicle_heartbeat
     diag: "j6_interface: vehicle_heartbeat_errors"
     type: diag
+    timeout: 1.0
 
   - path: /vehicle/006-vehicle_errors
     diag: "j6_interface: vehicle_errors"
     type: diag
+    timeout: 1.0