diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml
index 9e5ee977..29713934 100644
--- a/aip_x2_launch/launch/sensing.launch.xml
+++ b/aip_x2_launch/launch/sensing.launch.xml
@@ -39,7 +39,7 @@
     </include>
 
     <!-- Topic state monitor for each sensor -->
-    <include file="$(find-pkg-share aip_x2_launch)/launch/topic_state_monitor.launch.xml"/>
+    <include file="$(find-pkg-share aip_x2_launch)/launch/topic_state_monitor.launch.py"/>
 
   </group>
 
diff --git a/aip_x2_launch/launch/topic_state_monitor.launch.py b/aip_x2_launch/launch/topic_state_monitor.launch.py
new file mode 100644
index 00000000..71480a29
--- /dev/null
+++ b/aip_x2_launch/launch/topic_state_monitor.launch.py
@@ -0,0 +1,311 @@
+from launch import LaunchDescription
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    # GNSS topic monitor
+    gnss_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_gnss_pose",
+        parameters=[{
+            "topic": "/sensing/gnss/pose",
+            "topic_type": "geometry_msgs/msg/PoseStamped",
+            "best_effort": True,
+            "diag_name": "gnss_topic_status",
+            "warn_rate": 2.5,
+            "error_rate": 0.5,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    # IMU topic monitor
+    imu_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_imu_data",
+        parameters=[{
+            "topic": "/sensing/imu/imu_data",
+            "topic_type": "sensor_msgs/msg/Imu",
+            "best_effort": True,
+            "diag_name": "imu_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    # Radar topic monitors
+    radar_front_center_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_front_center",
+        parameters=[{
+            "topic": "/sensing/radar/front_center/objects_raw",
+            "topic_type": "radar_msgs/msg/RadarTracks",
+            "best_effort": True,
+            "diag_name": "radar_front_center_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    radar_front_left_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_front_left",
+        parameters=[{
+            "topic": "/sensing/radar/front_left/objects_raw",
+            "topic_type": "radar_msgs/msg/RadarTracks",
+            "best_effort": True,
+            "diag_name": "radar_front_left_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    radar_front_right_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_front_right",
+        parameters=[{
+            "topic": "/sensing/radar/front_right/objects_raw",
+            "topic_type": "radar_msgs/msg/RadarTracks",
+            "best_effort": True,
+            "diag_name": "radar_front_right_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    radar_rear_center_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_rear_center",
+        parameters=[{
+            "topic": "/sensing/radar/rear_center/objects_raw",
+            "topic_type": "radar_msgs/msg/RadarTracks",
+            "best_effort": True,
+            "diag_name": "radar_rear_center_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    radar_rear_left_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_rear_left",
+        parameters=[{
+            "topic": "/sensing/radar/rear_left/objects_raw",
+            "topic_type": "radar_msgs/msg/RadarTracks",
+            "best_effort": True,
+            "diag_name": "radar_rear_left_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    radar_rear_right_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_rear_right",
+        parameters=[{
+            "topic": "/sensing/radar/rear_right/objects_raw",
+            "topic_type": "radar_msgs/msg/RadarTracks",
+            "best_effort": True,
+            "diag_name": "radar_rear_right_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    # Camera topic monitors
+    camera0_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_camera0",
+        parameters=[{
+            "topic": "/sensing/camera/camera0/camera_info",
+            "topic_type": "sensor_msgs/msg/CameraInfo",
+            "best_effort": True,
+            "diag_name": "camera0_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    camera1_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_camera1",
+        parameters=[{
+            "topic": "/sensing/camera/camera1/camera_info",
+            "topic_type": "sensor_msgs/msg/CameraInfo",
+            "best_effort": True,
+            "diag_name": "camera1_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    camera2_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_camera2",
+        parameters=[{
+            "topic": "/sensing/camera/camera2/camera_info",
+            "topic_type": "sensor_msgs/msg/CameraInfo",
+            "best_effort": True,
+            "diag_name": "camera2_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    camera3_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_camera3",
+        parameters=[{
+            "topic": "/sensing/camera/camera3/camera_info",
+            "topic_type": "sensor_msgs/msg/CameraInfo",
+            "best_effort": True,
+            "diag_name": "camera3_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    camera4_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_camera4",
+        parameters=[{
+            "topic": "/sensing/camera/camera4/camera_info",
+            "topic_type": "sensor_msgs/msg/CameraInfo",
+            "best_effort": True,
+            "diag_name": "camera4_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    camera5_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_camera5",
+        parameters=[{
+            "topic": "/sensing/camera/camera5/camera_info",
+            "topic_type": "sensor_msgs/msg/CameraInfo",
+            "best_effort": True,
+            "diag_name": "camera5_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    camera6_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_camera6",
+        parameters=[{
+            "topic": "/sensing/camera/camera6/camera_info",
+            "topic_type": "sensor_msgs/msg/CameraInfo",
+            "best_effort": True,
+            "diag_name": "camera6_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    camera7_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_camera7",
+        parameters=[{
+            "topic": "/sensing/camera/camera7/camera_info",
+            "topic_type": "sensor_msgs/msg/CameraInfo",
+            "best_effort": True,
+            "diag_name": "camera7_topic_status",
+            "warn_rate": 5.0,
+            "error_rate": 1.0,
+            "timeout": 5.0,
+            "window_size": 10,
+        }],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    # ComposableNodeContainer to run all ComposableNodes
+    container = ComposableNodeContainer(
+        name="topic_state_monitor_container",
+        namespace="topic_state_monitor",
+        package="rclcpp_components",
+        executable="component_container",
+        composable_node_descriptions=[
+            gnss_topic_monitor,
+            imu_topic_monitor,
+            radar_front_center_monitor,
+            radar_front_left_monitor,
+            radar_front_right_monitor,
+            radar_rear_center_monitor,
+            radar_rear_left_monitor,
+            radar_rear_right_monitor,
+            camera0_topic_monitor,
+            camera1_topic_monitor,
+            camera2_topic_monitor,
+            camera3_topic_monitor,
+            camera4_topic_monitor,
+            camera5_topic_monitor,
+            camera6_topic_monitor,
+            camera7_topic_monitor,
+        ],
+        output="screen",
+    )
+
+    return LaunchDescription([
+        container
+    ])
diff --git a/aip_x2_launch/launch/topic_state_monitor.launch.xml b/aip_x2_launch/launch/topic_state_monitor.launch.xml
deleted file mode 100644
index f68f2692..00000000
--- a/aip_x2_launch/launch/topic_state_monitor.launch.xml
+++ /dev/null
@@ -1,201 +0,0 @@
-<launch>
-  <group>
-
-    <!-- GNSS topic monitor -->
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="gnss_pose"/>
-      <arg name="topic" value="/sensing/gnss/pose"/>
-      <arg name="topic_type" value="geometry_msgs/msg/PoseStamped"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="gnss_topic_status"/>
-      <arg name="warn_rate" value="2.5"/>
-      <arg name="error_rate" value="0.5"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <!-- IMU topic monitor -->
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="imu_data"/>
-      <arg name="topic" value="/sensing/imu/imu_data"/>
-      <arg name="topic_type" value="sensor_msgs/msg/Imu"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="imu_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <!-- Radar topic monitor -->
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="radar_front_center"/>
-      <arg name="topic" value="/sensing/radar/front_center/objects_raw"/>
-      <arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="radar_front_center_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="radar_front_left"/>
-      <arg name="topic" value="/sensing/radar/front_left/objects_raw"/>
-      <arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="radar_front_left_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="radar_front_right"/>
-      <arg name="topic" value="/sensing/radar/front_right/objects_raw"/>
-      <arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="radar_front_right_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="radar_rear_center"/>
-      <arg name="topic" value="/sensing/radar/rear_center/objects_raw"/>
-      <arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="radar_rear_center_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="radar_rear_left"/>
-      <arg name="topic" value="/sensing/radar/rear_left/objects_raw"/>
-      <arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="radar_rear_left_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="radar_rear_right"/>
-      <arg name="topic" value="/sensing/radar/rear_right/objects_raw"/>
-      <arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="radar_rear_right_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <!-- Camera topic monitor -->
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="camera0"/>
-      <arg name="topic" value="/sensing/camera/camera0/camera_info"/>
-      <arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="camera0_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="camera1"/>
-      <arg name="topic" value="/sensing/camera/camera1/camera_info"/>
-      <arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="camera1_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="camera2"/>
-      <arg name="topic" value="/sensing/camera/camera2/camera_info"/>
-      <arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="camera2_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="camera3"/>
-      <arg name="topic" value="/sensing/camera/camera3/camera_info"/>
-      <arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="camera3_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="camera4"/>
-      <arg name="topic" value="/sensing/camera/camera4/camera_info"/>
-      <arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="camera4_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="camera5"/>
-      <arg name="topic" value="/sensing/camera/camera5/camera_info"/>
-      <arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="camera5_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="camera6"/>
-      <arg name="topic" value="/sensing/camera/camera6/camera_info"/>
-      <arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="camera6_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-    <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-      <arg name="node_name_suffix" value="camera7"/>
-      <arg name="topic" value="/sensing/camera/camera7/camera_info"/>
-      <arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
-      <arg name="best_effort" value="true"/>
-      <arg name="diag_name" value="camera7_topic_status"/>
-      <arg name="warn_rate" value="5.0"/>
-      <arg name="error_rate" value="1.0"/>
-      <arg name="timeout" value="5.0"/>
-      <arg name="window_size" value="10"/>
-    </include>
-
-  </group>
-</launch>