diff --git a/aip_x1_description/config/sensor_kit_calibration.yaml b/aip_x1_description/config/sensor_kit_calibration.yaml
index 252bd1e9..70133656 100644
--- a/aip_x1_description/config/sensor_kit_calibration.yaml
+++ b/aip_x1_description/config/sensor_kit_calibration.yaml
@@ -6,24 +6,24 @@ sensor_kit_base_link:
     roll: 0.000
     pitch: 0.000
     yaw: 0.000
-  livox_front_left_base_link:
-    x: 1.054
-    y: 0.260
-    z: -1.330
-    roll: 0.000
-    pitch: 0.000
-    yaw: 1.047
-  livox_front_center_base_link:
-    x: 1.054
-    y: 0.000
-    z: -1.330
-    roll: 0.000
-    pitch: 0.000
-    yaw: 0.000
-  livox_front_right_base_link:
-    x: 1.054
-    y: -0.260
-    z: -1.330
-    roll: 0.000
-    pitch: 0.000
-    yaw: -1.047
+  pandar_xt32_front_center_base_link:
+    x: 1.130
+    y: 0.038
+    z: -1.400
+    roll: -0.000
+    pitch: -0.00
+    yaw: 1.6225
+  tamagawa/imu_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 3.14159
+    pitch: 0.0
+    yaw: 0.0
+  gnss_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
diff --git a/aip_x1_description/package.xml b/aip_x1_description/package.xml
index 327796c0..f860fc5e 100644
--- a/aip_x1_description/package.xml
+++ b/aip_x1_description/package.xml
@@ -2,14 +2,14 @@
 <package format="2">
   <name>aip_x1_description</name>
   <version>0.1.0</version>
-  <description>The aip_xx1_description package</description>
+  <description>The aip_x1_description package</description>
 
-  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <maintainer email="takeshi.miura@tier4.jp">Takeshi Miura</maintainer>
   <license>Apache 2</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>livox_description</depend>
+  <depend>pandar_description</depend>
   <depend>velodyne_description</depend>
 
   <export>
diff --git a/aip_x1_description/urdf/sensor_kit.xacro b/aip_x1_description/urdf/sensor_kit.xacro
index 5ab2f15c..8845547e 100644
--- a/aip_x1_description/urdf/sensor_kit.xacro
+++ b/aip_x1_description/urdf/sensor_kit.xacro
@@ -2,6 +2,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
     <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+    <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
 
     <xacro:arg name="gpu" default="false"/>
     <xacro:arg name="config_dir" default="$(find aip_x1_description)/config"/>
@@ -36,36 +37,43 @@
             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['yaw']}"
       />
     </xacro:VLP-16>
-    <xacro:include filename="$(find livox_description)/urdf/livox_horizon.xacro"/>
-    <xacro:livox_horizon_macro
-      name="livox_front_left"
+
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
+    <xacro:PandarXT-32
+      name="pandar_xt32_front_center"
       parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['yaw']}"
+      x="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['yaw']}"
     />
-    <xacro:livox_horizon_macro
-      name="livox_front_center"
+    <!-- gnss -->
+    <xacro:imu_macro
+      name="gnss"
       parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['yaw']}"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['gnss_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['gnss_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['gnss_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['gnss_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['gnss_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['gnss_link']['yaw']}"
+      fps="100"
     />
-    <xacro:livox_horizon_macro
-      name="livox_front_right"
+    <!-- imu -->
+    <xacro:imu_macro
+      name="tamagawa/imu"
       parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['yaw']}"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['yaw']}"
+      fps="100"
     />
   </xacro:macro>
 </robot>
diff --git a/aip_x1_launch/CMakeLists.txt b/aip_x1_launch/CMakeLists.txt
index 6348e9fb..c384a1a6 100644
--- a/aip_x1_launch/CMakeLists.txt
+++ b/aip_x1_launch/CMakeLists.txt
@@ -11,6 +11,5 @@ endif()
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
-  data
   config
 )
diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
index dafe8bbc..ab515513 100644
--- a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
+++ b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -4,6 +4,15 @@
       type: diagnostic_aggregator/AnalyzerGroup
       path: sensing
       analyzers:
+        node_alive_monitoring:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: node_alive_monitoring
+          analyzers:
+            topic_status:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: topic_status
+              contains: [": sensing_topic_status"]
+              timeout: 1.0
         lidar:
           type: diagnostic_aggregator/AnalyzerGroup
           path: lidar
@@ -33,10 +42,9 @@
                       path: rpm
                       contains: [": velodyne_rpm"]
                       timeout: 3.0
-
-            livox:
+            pandar:
               type: diagnostic_aggregator/AnalyzerGroup
-              path: livox
+              path: pandar
               analyzers:
                 health_monitoring:
                   type: diagnostic_aggregator/AnalyzerGroup
@@ -45,62 +53,68 @@
                     connection:
                       type: diagnostic_aggregator/GenericAnalyzer
                       path: connection
-                      contains: [": livox_connection"]
-                      timeout: 3.0
-
-                    fan_status:
+                      contains: [": pandar_connection"]
+                      timeout: 5.0
+                    temperature:
                       type: diagnostic_aggregator/GenericAnalyzer
-                      path: fan_status
-                      contains: [": livox_fan_status"]
-                      timeout: 3.0
-
-                    firmware_status:
+                      path: temperature
+                      contains: [": pandar_temperature"]
+                      timeout: 5.0
+                    ptp:
                       type: diagnostic_aggregator/GenericAnalyzer
-                      path: firmware_status
-                      contains: [": livox_firmware_status"]
-                      timeout: 3.0
+                      path: ptp
+                      contains: [": pandar_ptp"]
+                      timeout: 5.0
 
-                    internal_voltage:
-                      type: diagnostic_aggregator/GenericAnalyzer
-                      path: internal_voltage
-                      contains: [": livox_internal_voltage"]
-                      timeout: 3.0
+        gnss:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: gnss
+          analyzers:
+            health_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: health_monitoring
+              analyzers:
+                connection:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: connection
+                  contains: [": gnss_connection"]
+                  timeout: 3.0
 
-                    motor_status:
-                      type: diagnostic_aggregator/GenericAnalyzer
-                      path: motor_status
-                      contains: [": livox_motor_status"]
-                      timeout: 3.0
+                data:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: data
+                  contains: [": gnss_data"]
+                  timeout: 3.0
 
-                    # pps_signal:
-                    #   type: diagnostic_aggregator/GenericAnalyzer
-                    #   path: pps_signal
-                    #   contains: [": livox_pps_signal"]
-                    #   timeout: 3.0
+                antenna:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: antenna
+                  contains: [": gnss_antenna"]
+                  timeout: 3.0
 
-                    # ptp_signal:
-                    #   type: diagnostic_aggregator/GenericAnalyzer
-                    #   path: ptp_signal
-                    #   contains: [": livox_ptp_signal"]
-                    #   timeout: 3.0
+                tx_usage:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: tx_usage
+                  contains: [": gnss_tx_usage"]
+                  timeout: 3.0
 
-                    service_life:
-                      type: diagnostic_aggregator/GenericAnalyzer
-                      path: service_life
-                      contains: [": livox_service_life"]
-                      timeout: 3.0
+                spoofing:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: spoofing
+                  contains: [": gnss_spoofing"]
+                  timeout: 3.0
 
-                    temperature:
-                      type: diagnostic_aggregator/GenericAnalyzer
-                      path: temperature
-                      contains: [": livox_temperature"]
-                      timeout: 3.0
+                jamming:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: jamming
+                  contains: [": gnss_jamming"]
+                  timeout: 3.0
 
-                    # time_sync:
-                    #   type: diagnostic_aggregator/GenericAnalyzer
-                    #   path: time_sync
-                    #   contains: [": livox_time_sync"]
-                    #   timeout: 3.0
+                fix_topic_status:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: fix_topic_status
+                  contains: [": fix topic status"]
+                  timeout: 3.0
 
         imu:
           type: diagnostic_aggregator/AnalyzerGroup
diff --git a/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
index a10cfb8e..75712024 100644
--- a/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
+++ b/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -12,19 +12,26 @@
 /**:
   ros__parameters:
     required_diags:
+      # gnss
+      gnss_connection: default
+      gnss_data: default
+      gnss_antenna: default
+      gnss_tx_usage: default
+      gnss_spoofing: default
+      gnss_jamming: default
+      fix topic status: default
+
+      # pandar
+      pandar_connection: default
+      pandar_temperature: default
+      pandar_ptp: default
+
       # velodyne
       velodyne_connection: default
       velodyne_temperature: default
       velodyne_rpm: default
 
-      # livox
-      livox_connection: default
-      livox_fan_status: default
-      livox_firmware_status: default
-      livox_internal_voltage: default
-      livox_motor_status: default
-      livox_service_life: default
-      livox_temperature: default
+      sensing_topic_status: default
 
       # imu
       gyro_bias_estimator: default
diff --git a/aip_x1_launch/data/traffic_light_camera.yaml b/aip_x1_launch/data/traffic_light_camera.yaml
deleted file mode 100644
index 458ad17c..00000000
--- a/aip_x1_launch/data/traffic_light_camera.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 1920
-image_height: 1080
-camera_name: traffic_light/camera
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [2410.755261, 0.000000, 922.621401, 0.000000, 2403.573140, 534.752500, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.126600, 0.152594, 0.002432, -0.001244, 0.000000]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [2370.254883, 0.000000, 920.136018, 0.000000, 0.000000, 2388.885254, 535.599668, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/aip_x1_launch/launch/camera.launch.xml b/aip_x1_launch/launch/camera.launch.xml
deleted file mode 100644
index 8365603f..00000000
--- a/aip_x1_launch/launch/camera.launch.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<launch>
-
-  <arg name="launch_driver" default="true" />
-  <arg name="use_driving_recorder" default="false" />
-
-  <group>
-    <push-ros-namespace namespace="camera"/>
-    <group if="$(var use_driving_recorder)">
-      <push-ros-namespace namespace="driving_recorder"/>
-      <node pkg="usb_cam" name="driving_recorder_camera" exec="usb_cam_node" if="$(var launch_driver)">
-        <remap from="/image_raw" to="image_raw" />
-        <remap from="/camera_info" to="camera_info" />
-        <param name="camera_frame_id" value="driving_recorder/camera_optical_link" />
-        <param name="camera_name" value="driving_recorder/camera" />
-        <param name="video_device" value="/dev/video0" />
-        <param name="image_width" value="640" />
-        <param name="image_height" value="480" />
-        <param name="pixel_format" value="yuyv" />
-        <param name="frame_rate" value="30" />
-      </node>
-    </group>
-  </group>
-
-</launch>
diff --git a/aip_x1_launch/launch/imu.launch.xml b/aip_x1_launch/launch/imu.launch.xml
index 9579dd64..ab016f0d 100644
--- a/aip_x1_launch/launch/imu.launch.xml
+++ b/aip_x1_launch/launch/imu.launch.xml
@@ -1,16 +1,30 @@
 <launch>
-
-  <arg name="launch_driver" default="true" />
-  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
-
   <group>
     <push-ros-namespace namespace="imu"/>
 
-    <arg name="imu_raw_name" default="/sensing/lidar/front_center/livox/imu"/>
+    <arg name="launch_driver" default="true" />
+    <arg name="interface" default="canIMU"/>
+    <arg name="receiver_interval_sec" default="0.01"/>
+    <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+
+    <group if="$(var launch_driver)">
+      <push-ros-namespace namespace="tamagawa"/>
+      <include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_receiver.launch.py">
+        <arg name="interface" value="$(var interface)"/>
+        <arg name="interval_sec" value="$(var receiver_interval_sec)"/>
+      </include>
+      <node pkg="tamagawa_imu_driver" name="tag_can_driver" exec="tag_can_driver">
+        <remap from="/can/imu" to="from_can_bus"/>
+        <remap from="imu/data_raw" to="imu_raw"/>
+        <param name="imu_frame_id" value="tamagawa/imu_link"/>
+      </node>
+    </group>
+
+    <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
     <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/imu_corrector.param.yaml"/>
-    <include file="$(find-pkg-share autoware_imu_corrector)/launch/imu_corrector.launch.xml">
+    <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="$(var imu_raw_name)"/>
-      <arg name="output_topic" value="imu_data"/>
+      <arg name="output_topic" value="imu_data" />
       <arg name="param_file" value="$(var imu_corrector_param_file)"/>
     </include>
 
@@ -19,7 +33,6 @@
       <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
       <arg name="input_odom" value="/localization/kinematic_state"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
-      <arg name="gyro_bias_estimator_param_file" value="$(var gyro_bias_estimator_param_file)"/>
     </include>
   </group>
 
diff --git a/aip_x1_launch/launch/lidar.launch.xml b/aip_x1_launch/launch/lidar.launch.xml
index 56066df5..dce0a58a 100644
--- a/aip_x1_launch/launch/lidar.launch.xml
+++ b/aip_x1_launch/launch/lidar.launch.xml
@@ -1,22 +1,22 @@
 <launch>
 
   <arg name="launch_driver" default="true" />
+  <arg name="host_ip" default="127.0.0.1"/>
   <arg name="use_concat_filter" default="true" />
   <arg name="use_radius_search" default="false" />
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
   <arg name="vehicle_mirror_param_file" />
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
-  <!-- x1 additional setting -->
-  <arg name="livox_min_range" default="1.5" />
-
   <group>
     <push-ros-namespace namespace="lidar"/>
 
     <group>
       <push-ros-namespace namespace="top"/>
-      <include file="$(find-pkg-share aip_x1_launch)/launch/velodyne_VLP16.launch.xml">
+      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
         <arg name="sensor_frame" value="velodyne_top" />
         <arg name="device_ip" value="192.168.1.20"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2368"/>
         <arg name="scan_phase" value="180.0" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -26,30 +26,22 @@
     </group>
 
     <group>
-      <group>
-	      <push-ros-namespace namespace="front_right"/>
-        <include file="$(find-pkg-share aip_x1_launch)/launch/new_livox_horizon.launch.py">
-          <arg name="launch_driver" value="$(var launch_driver)" />
-          <arg name="lidar_config_file" value="$(find-pkg-share individual_params)/config/default/new_driver_livox_front_right_config.yaml" />
-          <arg name="min_range" value="$(var livox_min_range)" />
-        </include>
-      </group>
-      <group>
-        <push-ros-namespace namespace="front_center"/>
-        <include file="$(find-pkg-share aip_x1_launch)/launch/new_livox_horizon.launch.py">
-          <arg name="launch_driver" value="$(var launch_driver)" />
-          <arg name="lidar_config_file" value="$(find-pkg-share individual_params)/config/default/new_driver_livox_front_center_config.yaml" />
-          <arg name="min_range" value="$(var livox_min_range)" />
-	      </include>
-      </group>
-      <group>
-        <push-ros-namespace namespace="front_left"/>
-        <include file="$(find-pkg-share aip_x1_launch)/launch/new_livox_horizon.launch.py">
-          <arg name="launch_driver" value="$(var launch_driver)" />
-          <arg name="lidar_config_file" value="$(find-pkg-share individual_params)/config/default/new_driver_livox_front_left_config.yaml" />
-          <arg name="min_range" value="$(var livox_min_range)" />
-	      </include>
-      </group>
+      <push-ros-namespace namespace="front_center" />
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="sensor_frame" value="pandar_xt32_front_center" />
+        <arg name="sensor_ip" value="192.168.3.201" />
+        <arg name="data_port" value="2321" />
+        <arg name="gnss_port" value="10121" />
+        <arg name="scan_phase" value="0.0" />
+        <arg name="cloud_min_angle" value="0"/>
+        <arg name="cloud_max_angle" value="360"/>
+        <arg name="min_range" value="0.05"/>
+        <arg name="max_range" value="200.0"/>
+        <arg name="return_mode" value="Strongest" />
+        <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/xt32.csv" />
+        <arg name="launch_driver" value="$(var launch_driver)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+      </include>
     </group>
 
     <include file="$(find-pkg-share aip_x1_launch)/launch/pointcloud_preprocessor.launch.py">
@@ -59,6 +51,5 @@
       <arg name="container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
-    <include file="$(find-pkg-share aip_x1_launch)/launch/topic_state_monitor.launch.py" />
   </group>
 </launch>
diff --git a/aip_x1_launch/launch/new_livox_horizon.launch.py b/aip_x1_launch/launch/new_livox_horizon.launch.py
deleted file mode 100644
index 4f262a16..00000000
--- a/aip_x1_launch/launch/new_livox_horizon.launch.py
+++ /dev/null
@@ -1,127 +0,0 @@
-# Copyright 2020 Tier IV, Inc. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import launch
-from launch.actions import DeclareLaunchArgument
-from launch.actions import OpaqueFunction
-from launch.conditions import IfCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.actions import Node
-from launch_ros.descriptions import ComposableNode
-import yaml
-
-
-def get_livox_tag_filter_component():
-    # livox tag filter
-    livox_tag_filter_component = ComposableNode(
-        package="livox_tag_filter",
-        plugin="livox_tag_filter::LivoxTagFilterNode",
-        name="livox_tag_filter",
-        remappings=[
-            ("input", "livox/lidar"),
-            ("output", "livox/tag_filtered/lidar"),
-        ],
-        parameters=[
-            {
-                "ignore_tags": [1, 2, 20, 21, 22, 23, 24],
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-    return livox_tag_filter_component
-
-
-def get_crop_box_min_range_component(context, livox_frame_id):
-    use_tag_filter = IfCondition(LaunchConfiguration("use_tag_filter")).evaluate(context)
-    crop_box_min_range_component = ComposableNode(
-        package="autoware_pointcloud_preprocessor",
-        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
-        name="crop_box_filter_min_range",
-        remappings=[
-            ("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"),
-            ("output", "min_range_cropped/pointcloud_before_sync"),
-        ],
-        parameters=[
-            {
-                "input_frame": livox_frame_id,
-                "output_frame": LaunchConfiguration("frame_id"),
-                "min_x": 0.0,
-                "max_x": LaunchConfiguration("min_range"),
-                "min_y": -2.0,
-                "max_y": 2.0,
-                "min_z": -2.0,
-                "max_z": 2.0,
-                "negative": True,
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-    return crop_box_min_range_component
-
-
-def launch_setup(context, *args, **kwargs):
-    lidar_config_path = LaunchConfiguration("lidar_config_file").perform(context)
-    with open(lidar_config_path, "r") as f:
-        params = yaml.safe_load(f)["/**"]["ros__parameters"]
-
-    livox_driver_node = Node(
-        executable="lidar_ros_driver_node",
-        package="lidar_ros_driver",
-        name="livox_horizon",
-        remappings=[
-            ("livox/cloud", "livox/lidar"),
-            ("livox/imu_packet", "livox/imu"),
-        ],
-        parameters=[params],
-        condition=IfCondition(LaunchConfiguration("launch_driver")),
-        output="screen",
-    )
-
-    container = ComposableNodeContainer(
-        name="livox_horizon",
-        namespace="livox_horizon",
-        package="rclcpp_components",
-        executable="component_container",
-        composable_node_descriptions=[
-            get_crop_box_min_range_component(context, params["frame_id"]),
-        ],
-        output="screen",
-    )
-
-    livox_tag_filter_loader = LoadComposableNodes(
-        composable_node_descriptions=[get_livox_tag_filter_component()],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("use_tag_filter")),
-    )
-
-    return [livox_driver_node, container, livox_tag_filter_loader]
-
-
-def generate_launch_description():
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None):
-        launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
-
-    add_launch_arg("launch_driver", "true")
-    add_launch_arg("base_frame", "base_link")
-    add_launch_arg("use_tag_filter", "true")
-    add_launch_arg("lidar_config_file")
-
-    # x1 additional setting
-    add_launch_arg("min_range", "1.5")
-
-    return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])
diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
index 639705b6..fc543755 100644
--- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -37,9 +37,7 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/pointcloud_before_sync",
-                    "/sensing/lidar/front_left/min_range_cropped/pointcloud_before_sync",
-                    "/sensing/lidar/front_right/min_range_cropped/pointcloud_before_sync",
-                    "/sensing/lidar/front_center/min_range_cropped/pointcloud_before_sync",
+                    "/sensing/lidar/front_center/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "timeout_sec": 1.0,
@@ -54,6 +52,7 @@ def launch_setup(context, *args, **kwargs):
     concat_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_component],
         target_container=LaunchConfiguration("pointcloud_container_name"),
+        condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
 
     return [concat_loader]
@@ -68,7 +67,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
-    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("container_name", "pointcloud_preprocessor_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml
index 1c294fdf..0f23a733 100644
--- a/aip_x1_launch/launch/sensing.launch.xml
+++ b/aip_x1_launch/launch/sensing.launch.xml
@@ -4,19 +4,15 @@
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+  <arg name="use_awsim" default="false"/>
 
   <group>
-
     <!-- LiDAR Driver -->
     <include file="$(find-pkg-share aip_x1_launch)/launch/lidar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    </include>
-
-    <!-- Camera Driver -->
-    <include file="$(find-pkg-share aip_x1_launch)/launch/camera.launch.xml">
-      <arg name="launch_driver" value="$(var launch_driver)" />
+      <arg name="use_awsim" value="$(var use_awsim)"/>
     </include>
 
     <!-- IMU Driver -->
@@ -25,7 +21,7 @@
     </include>
 
     <!-- GNSS Driver -->
-    <include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml">
+    <include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml" unless="$(var use_awsim)">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 
diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.py b/aip_x1_launch/launch/topic_state_monitor.launch.py
deleted file mode 100644
index 1c17606c..00000000
--- a/aip_x1_launch/launch/topic_state_monitor.launch.py
+++ /dev/null
@@ -1,209 +0,0 @@
-# Copyright 2021 Tier IV, Inc. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from launch.launch_description import LaunchDescription
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.descriptions import ComposableNode
-
-
-def generate_launch_description():
-    # Topic Monitor For Livox Raw PointCloud
-    topic_state_monitor_livox_front_center = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_livox_front_center",
-        parameters=[
-            {
-                "topic": "/sensing/lidar/front_center/livox/lidar",
-                "topic_type": "sensor_msgs/msg/PointCloud2",
-                "best_effort": True,
-                "diag_name": "sensing_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 1.0,
-                "window_size": 10,
-            },
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-    topic_state_monitor_livox_front_left = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_livox_front_left",
-        parameters=[
-            {
-                "topic": "/sensing/lidar/front_left/livox/lidar",
-                "topic_type": "sensor_msgs/msg/PointCloud2",
-                "best_effort": True,
-                "diag_name": "sensing_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 1.0,
-                "window_size": 10,
-            },
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-    topic_state_monitor_livox_front_right = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_livox_front_right",
-        parameters=[
-            {
-                "topic": "/sensing/lidar/front_right/livox/lidar",
-                "topic_type": "sensor_msgs/msg/PointCloud2",
-                "best_effort": True,
-                "diag_name": "sensing_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 1.0,
-                "window_size": 10,
-            },
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    # Topic Monitor For Concat PointCloud
-    topic_state_monitor_top_outlier_filtered = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_top_outlier_filtered",
-        parameters=[
-            {
-                "topic": "/sensing/lidar/top/pointcloud",
-                "topic_type": "sensor_msgs/msg/PointCloud2",
-                "best_effort": True,
-                "diag_name": "sensing_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 1.0,
-                "window_size": 10,
-            },
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-    topic_state_monitor_livox_front_left_min_range_cropped = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_livox_front_left_min_range_cropped",
-        parameters=[
-            {
-                "topic": "/sensing/lidar/front_left/min_range_cropped/pointcloud",
-                "topic_type": "sensor_msgs/msg/PointCloud2",
-                "best_effort": True,
-                "diag_name": "sensing_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 1.0,
-                "window_size": 10,
-            },
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-    topic_state_monitor_livox_front_right_min_range_cropped = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_livox_front_right_min_range_cropped",
-        parameters=[
-            {
-                "topic": "/sensing/lidar/front_right/min_range_cropped/pointcloud",
-                "topic_type": "sensor_msgs/msg/PointCloud2",
-                "best_effort": True,
-                "diag_name": "sensing_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 1.0,
-                "window_size": 10,
-            },
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-    topic_state_monitor_livox_front_center_min_range_cropped = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_livox_front_center_min_range_cropped",
-        parameters=[
-            {
-                "topic": "/sensing/lidar/front_center/min_range_cropped/pointcloud",
-                "topic_type": "sensor_msgs/msg/PointCloud2",
-                "best_effort": True,
-                "diag_name": "sensing_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 1.0,
-                "window_size": 10,
-            },
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    # Topic Monitor for NoGroundFilter
-    topic_state_monitor_rough_no_ground = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_rough_no_ground",
-        parameters=[
-            {
-                "topic": "/perception/obstacle_segmentation/single_frame/pointcloud",
-                "topic_type": "sensor_msgs/msg/PointCloud2",
-                "best_effort": True,
-                "diag_name": "sensing_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 1.0,
-                "window_size": 10,
-            },
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-    topic_state_monitor_short_height_no_ground = ComposableNode(
-        package="topic_state_monitor",
-        plugin="topic_state_monitor::TopicStateMonitorNode",
-        name="topic_state_monitor_short_height_no_ground",
-        parameters=[
-            {
-                "topic": "/perception/obstacle_segmentation/plane_fitting/pointcloud",
-                "topic_type": "sensor_msgs/msg/PointCloud2",
-                "best_effort": True,
-                "diag_name": "sensing_topic_status",
-                "warn_rate": 5.0,
-                "error_rate": 1.0,
-                "timeout": 1.0,
-                "window_size": 10,
-            },
-        ],
-        extra_arguments=[{"use_intra_process_comms": True}],
-    )
-
-    # set container to run all required components in the same process
-    container = ComposableNodeContainer(
-        name="topic_state_monitor_container",
-        namespace="topic_state_monitor",
-        package="rclcpp_components",
-        executable="component_container",
-        composable_node_descriptions=[
-            topic_state_monitor_livox_front_center,
-            topic_state_monitor_livox_front_left,
-            topic_state_monitor_livox_front_right,
-            topic_state_monitor_top_outlier_filtered,
-            topic_state_monitor_livox_front_left_min_range_cropped,
-            topic_state_monitor_livox_front_right_min_range_cropped,
-            topic_state_monitor_livox_front_center_min_range_cropped,
-            topic_state_monitor_rough_no_ground,
-            topic_state_monitor_short_height_no_ground,
-        ],
-        output="screen",
-    )
-
-    return LaunchDescription([container])
diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.xml b/aip_x1_launch/launch/topic_state_monitor.launch.xml
deleted file mode 100644
index aa89fccd..00000000
--- a/aip_x1_launch/launch/topic_state_monitor.launch.xml
+++ /dev/null
@@ -1,97 +0,0 @@
-<launch>
-  <!-- Topic Monitor for Livox Raw PointCloud -->
-  <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-    <arg name="node_name_suffix" value="front_center"/>
-    <arg name="topic" value="/sensing/lidar/front_center/livox/lidar"/>
-    <arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
-    <arg name="best_effort" value="true"/>
-    <arg name="diag_name" value="sensing_topic_status"/>
-    <arg name="warn_rate" value="5.0"/>
-    <arg name="error_rate" value="1.0"/>
-    <arg name="timeout" value="1.0"/>
-  </include>
-  <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-    <arg name="node_name_suffix" value="front_right"/>
-    <arg name="topic" value="/sensing/lidar/front_right/livox/lidar"/>
-    <arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
-    <arg name="best_effort" value="true"/>
-    <arg name="diag_name" value="sensing_topic_status"/>
-    <arg name="warn_rate" value="5.0"/>
-    <arg name="error_rate" value="1.0"/>
-    <arg name="timeout" value="1.0"/>
-  </include>
-  <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-    <arg name="node_name_suffix" value="front_left"/>
-    <arg name="topic" value="/sensing/lidar/front_left/livox/lidar"/>
-    <arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
-    <arg name="best_effort" value="true"/>
-    <arg name="diag_name" value="sensing_topic_status"/>
-    <arg name="warn_rate" value="5.0"/>
-    <arg name="error_rate" value="1.0"/>
-    <arg name="timeout" value="1.0"/>
-  </include>
-
-  <!-- Topic Monitor for Concat Filter -->
-  <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-    <arg name="node_name_suffix" value="top_outlier_filtered"/>
-    <arg name="topic" value="/sensing/lidar/top/pointcloud"/>
-    <arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
-    <arg name="best_effort" value="true"/>
-    <arg name="diag_name" value="sensing_topic_status"/>
-    <arg name="warn_rate" value="5.0"/>
-    <arg name="error_rate" value="1.0"/>
-    <arg name="timeout" value="1.0"/>
-  </include>
-  <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-    <arg name="node_name_suffix" value="front_left_mirror_cropped"/>
-    <arg name="topic" value="/sensing/lidar/front_left/mirror_cropped/pointcloud"/>
-    <arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
-    <arg name="best_effort" value="true"/>
-    <arg name="diag_name" value="sensing_topic_status"/>
-    <arg name="warn_rate" value="5.0"/>
-    <arg name="error_rate" value="1.0"/>
-    <arg name="timeout" value="1.0"/>
-  </include>
-  <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-    <arg name="node_name_suffix" value="front_right_mirror_cropped"/>
-    <arg name="topic" value="/sensing/lidar/front_right/mirror_cropped/pointcloud"/>
-    <arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
-    <arg name="best_effort" value="true"/>
-    <arg name="diag_name" value="sensing_topic_status"/>
-    <arg name="warn_rate" value="5.0"/>
-    <arg name="error_rate" value="1.0"/>
-    <arg name="timeout" value="1.0"/>
-  </include>
-  <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-    <arg name="node_name_suffix" value="front_center_mirror_cropped"/>
-    <arg name="topic" value="/sensing/lidar/front_center/mirror_cropped/pointcloud"/>
-    <arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
-    <arg name="best_effort" value="true"/>
-    <arg name="diag_name" value="sensing_topic_status"/>
-    <arg name="warn_rate" value="5.0"/>
-    <arg name="error_rate" value="1.0"/>
-    <arg name="timeout" value="1.0"/>
-  </include>
-
-  <!-- Topic Monitor for Concat Filter -->
-  <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-    <arg name="node_name_suffix" value="rough_no_ground"/>
-    <arg name="topic" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
-    <arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
-    <arg name="best_effort" value="true"/>
-    <arg name="diag_name" value="sensing_topic_status"/>
-    <arg name="warn_rate" value="5.0"/>
-    <arg name="error_rate" value="1.0"/>
-    <arg name="timeout" value="1.0"/>
-  </include>
-  <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
-    <arg name="node_name_suffix" value="short_height_no_ground"/>
-    <arg name="topic" value="/perception/obstacle_segmentation/plane_fitting/pointcloud"/>
-    <arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
-    <arg name="best_effort" value="true"/>
-    <arg name="diag_name" value="sensing_topic_status"/>
-    <arg name="warn_rate" value="5.0"/>
-    <arg name="error_rate" value="1.0"/>
-    <arg name="timeout" value="1.0"/>
-  </include>
-</launch>
diff --git a/aip_x1_launch/launch/velodyne_VLP16.launch.xml b/aip_x1_launch/launch/velodyne_VLP16.launch.xml
deleted file mode 100644
index 3156db29..00000000
--- a/aip_x1_launch/launch/velodyne_VLP16.launch.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<launch>
-
-  <!-- Params -->
-  <arg name="launch_driver" default="true" />
-
-  <arg name="model" default="VLP16"/>
-  <arg name="calibration" default="$(find-pkg-share velodyne_pointcloud)/params/VLP16db.yaml"/>
-  <arg name="max_range" default="130.0" />
-  <arg name="min_range" default="0.4" />
-  <arg name="invalid_intensity" default="[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"/>
-  <arg name="sensor_frame" default="velodyne" />
-  <arg name="device_ip" default="192.168.1.201"/>
-  <arg name="port" default="2368"/>
-  <arg name="scan_phase" default="0.0"/>
-  <arg name="view_direction" default="0.0" />
-  <arg name="view_width" default="6.28" />
-  <arg name="vehicle_mirror_param_file" />
-
-  <include file="$(find-pkg-share aip_x1_launch)/launch/velodyne_node_container.launch.py">
-    <arg name="launch_driver" value="$(var launch_driver)"/>
-    <arg name="model" value="$(var model)"/>
-    <arg name="calibration" value="$(var calibration)"/>
-    <arg name="max_range" value="$(var max_range)"/>
-    <arg name="min_range" value="$(var min_range)"/>
-    <arg name="invalid_intensity" value="$(var invalid_intensity)"/>
-    <arg name="frame_id" value="$(var sensor_frame)"/>
-    <arg name="device_ip" value="$(var device_ip)"/>
-    <arg name="port" value="$(var port)"/>
-    <arg name="scan_phase" value="$(var scan_phase)"/>
-    <arg name="view_direction" value="$(var view_direction)" />
-    <arg name="view_width" value="$(var view_width)" />
-    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-    <arg name="use_intra_process" value="true" />
-    <arg name="use_multithread" value="false" />
-  </include>
-
-  <!-- Velodyne Monitor -->
-  <include file="$(find-pkg-share velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
-    <arg name="ip_address" value="$(var device_ip)" />
-  </include>
-</launch>
diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py
deleted file mode 100644
index 96e72a17..00000000
--- a/aip_x1_launch/launch/velodyne_node_container.launch.py
+++ /dev/null
@@ -1,247 +0,0 @@
-# Copyright 2020 Tier IV, Inc. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import launch
-from launch.actions import DeclareLaunchArgument
-from launch.actions import OpaqueFunction
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-
-
-def get_vehicle_info(context):
-    # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support
-    # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py
-    gp = context.launch_configurations.get("ros_params", {})
-    if not gp:
-        gp = dict(context.launch_configurations.get("global_params", {}))
-    p = {}
-    p["vehicle_length"] = gp["front_overhang"] + gp["wheel_base"] + gp["rear_overhang"]
-    p["vehicle_width"] = gp["wheel_tread"] + gp["left_overhang"] + gp["right_overhang"]
-    p["min_longitudinal_offset"] = -gp["rear_overhang"]
-    p["max_longitudinal_offset"] = gp["front_overhang"] + gp["wheel_base"]
-    p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"])
-    p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"]
-    p["min_height_offset"] = 0.0
-    p["max_height_offset"] = gp["vehicle_height"]
-    return p
-
-
-def launch_setup(context, *args, **kwargs):
-    def create_parameter_dict(*args):
-        result = {}
-        for x in args:
-            result[x] = LaunchConfiguration(x)
-        return result
-
-    nodes = []
-
-    # turn packets into pointcloud as in
-    # https://github.com/ros-drivers/velodyne/blob/ros2/velodyne_pointcloud/launch/velodyne_convert_node-VLP16-composed-launch.py
-    nodes.append(
-        ComposableNode(
-            package="velodyne_pointcloud",
-            plugin="velodyne_pointcloud::Convert",
-            name="velodyne_convert_node",
-            parameters=[
-                {
-                    **create_parameter_dict(
-                        "calibration",
-                        "min_range",
-                        "max_range",
-                        "num_points_thresholds",
-                        "invalid_intensity",
-                        "frame_id",
-                        "scan_phase",
-                        "view_direction",
-                        "view_width",
-                    ),
-                }
-            ],
-            remappings=[
-                ("velodyne_points", "pointcloud_raw"),
-                ("velodyne_points_ex", "pointcloud_raw_ex"),
-            ],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        )
-    )
-
-    cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
-    cropbox_parameters["negative"] = True
-
-    vehicle_info = get_vehicle_info(context)
-    cropbox_parameters["min_x"] = vehicle_info["min_longitudinal_offset"]
-    cropbox_parameters["max_x"] = vehicle_info["max_longitudinal_offset"]
-    cropbox_parameters["min_y"] = vehicle_info["min_lateral_offset"]
-    cropbox_parameters["max_y"] = vehicle_info["max_lateral_offset"]
-    cropbox_parameters["min_z"] = vehicle_info["min_height_offset"]
-    cropbox_parameters["max_z"] = vehicle_info["max_height_offset"]
-
-    nodes.append(
-        ComposableNode(
-            package="autoware_pointcloud_preprocessor",
-            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
-            name="crop_box_filter_self",
-            remappings=[
-                ("input", "pointcloud_raw_ex"),
-                ("output", "self_cropped/pointcloud_ex"),
-            ],
-            parameters=[cropbox_parameters],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        )
-    )
-
-    nodes.append(
-        ComposableNode(
-            package="autoware_pointcloud_preprocessor",
-            plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
-            name="distortion_corrector_node",
-            remappings=[
-                ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
-                ("~/input/imu", "/sensing/imu/imu_data"),
-                ("~/input/pointcloud", "self_cropped/pointcloud_ex"),
-                ("~/output/pointcloud", "rectified/pointcloud_ex"),
-            ],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        )
-    )
-
-    # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
-    if LaunchConfiguration("output_as_sensor_frame").perform(context):
-        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
-    else:
-        ring_outlier_filter_parameters = {
-            "output_frame": ""
-        }  # keep the output frame as the input frame
-    nodes.append(
-        ComposableNode(
-            package="autoware_pointcloud_preprocessor",
-            plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
-            name="ring_outlier_filter",
-            remappings=[
-                ("input", "rectified/pointcloud_ex"),
-                ("output", "pointcloud_before_sync"),
-            ],
-            parameters=[ring_outlier_filter_parameters],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        )
-    )
-
-    # set container to run all required components in the same process
-    container = ComposableNodeContainer(
-        # need unique name, otherwise all processes in same container and the node names then clash
-        name="velodyne_node_container",
-        namespace="pointcloud_preprocessor",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=nodes,
-    )
-
-    driver_component = ComposableNode(
-        package="velodyne_driver",
-        plugin="velodyne_driver::VelodyneDriver",
-        # node is created in a global context, need to avoid name clash
-        name="velodyne_driver",
-        parameters=[
-            {
-                **create_parameter_dict(
-                    "device_ip",
-                    "gps_time",
-                    "read_once",
-                    "read_fast",
-                    "repeat_delay",
-                    "frame_id",
-                    "model",
-                    "rpm",
-                    "port",
-                    "pcap",
-                    "scan_phase",
-                ),
-            }
-        ],
-    )
-
-    # one way to add a ComposableNode conditional on a launch argument to a
-    # container. The `ComposableNode` itself doesn't accept a condition
-    loader = LoadComposableNodes(
-        composable_node_descriptions=[driver_component],
-        target_container=container,
-        condition=launch.conditions.IfCondition(LaunchConfiguration("launch_driver")),
-    )
-
-    return [container, loader]
-
-
-def generate_launch_description():
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None, description=None):
-        # a default_value of None is equivalent to not passing that kwarg at all
-        launch_arguments.append(
-            DeclareLaunchArgument(name, default_value=default_value, description=description)
-        )
-
-    add_launch_arg("model", description="velodyne model name")
-    add_launch_arg("launch_driver", "True", "do launch driver")
-    add_launch_arg("calibration", description="path to calibration file")
-    add_launch_arg("device_ip", "192.168.1.201", "device ip address")
-    add_launch_arg("scan_phase", "0.0")
-    add_launch_arg("base_frame", "base_link", "base frame id")
-    add_launch_arg("container_name", "velodyne_composable_node_container", "container name")
-    add_launch_arg("min_range", description="minimum view range")
-    add_launch_arg("max_range", description="maximum view range")
-    add_launch_arg("pcap", "")
-    add_launch_arg("port", "2368", description="device port number")
-    add_launch_arg("read_fast", "False")
-    add_launch_arg("read_once", "False")
-    add_launch_arg("repeat_delay", "0.0")
-    add_launch_arg("rpm", "600.0", "rotational frequency")
-    add_launch_arg("laserscan_ring", "-1")
-    add_launch_arg("laserscan_resolution", "0.007")
-    add_launch_arg("num_points_thresholds", "300")
-    add_launch_arg("invalid_intensity")
-    add_launch_arg("frame_id", "velodyne", "velodyne frame id")
-    add_launch_arg("gps_time", "False")
-    add_launch_arg("view_direction", description="the center of lidar angle")
-    add_launch_arg("view_width", description="lidar angle: 0~6.28 [rad]")
-    add_launch_arg("input_frame", LaunchConfiguration("base_frame"), "use for cropbox")
-    add_launch_arg("output_frame", LaunchConfiguration("base_frame"), "use for cropbox")
-    add_launch_arg(
-        "vehicle_mirror_param_file", description="path to the file of vehicle mirror position yaml"
-    )
-    add_launch_arg("use_multithread", "False", "use multithread")
-    add_launch_arg("use_intra_process", "False", "use ROS2 component container communication")
-    add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    return launch.LaunchDescription(
-        launch_arguments
-        + [set_container_executable, set_container_mt_executable]
-        + [OpaqueFunction(function=launch_setup)]
-    )
diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml
index 84e7ee19..d262d2d6 100644
--- a/aip_x1_launch/package.xml
+++ b/aip_x1_launch/package.xml
@@ -5,7 +5,7 @@
   <version>0.1.0</version>
   <description>The aip_x1_launch package</description>
 
-  <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
+  <maintainer email="takeshi.miura@tier4.jp">Takeshi Miura</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
@@ -13,11 +13,16 @@
   <exec_depend>autoware_gnss_poser</exec_depend>
   <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
+  <exec_depend>common_sensor_launch</exec_depend>
+  <exec_depend>compare_map_segmentation</exec_depend>
+  <exec_depend>elevation_map_loader</exec_depend>
+  <exec_depend>ground_segmentation</exec_depend>
+  <exec_depend>individual_params</exec_depend>
+  <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
+  <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
-  <exec_depend>topic_tools</exec_depend>
-  <exec_depend>ublox_gps</exec_depend>
-  <exec_depend>usb_cam</exec_depend>
-  <exec_depend>vehicle_velocity_converter</exec_depend>
+  <exec_depend>topic_state_monitor</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>