diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml
index 51614263..8b4888d0 100644
--- a/aip_x2_launch/launch/sensing.launch.xml
+++ b/aip_x2_launch/launch/sensing.launch.xml
@@ -37,6 +37,10 @@
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diff --git a/aip_x2_launch/launch/topic_state_monitor.launch.xml b/aip_x2_launch/launch/topic_state_monitor.launch.xml
new file mode 100644
index 00000000..f68f2692
--- /dev/null
+++ b/aip_x2_launch/launch/topic_state_monitor.launch.xml
@@ -0,0 +1,201 @@
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