diff --git a/aip_x2_launch/config/blockage_diagnostics_param_file.yaml b/aip_x2_launch/config/blockage_diagnostics.param.yaml
similarity index 100%
rename from aip_x2_launch/config/blockage_diagnostics_param_file.yaml
rename to aip_x2_launch/config/blockage_diagnostics.param.yaml
diff --git a/aip_x2_launch/config/ring_outlier_filter_node.param.yaml b/aip_x2_launch/config/ring_outlier_filter_node.param.yaml
new file mode 100644
index 00000000..76bf6895
--- /dev/null
+++ b/aip_x2_launch/config/ring_outlier_filter_node.param.yaml
@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    distance_ratio: 1.03
+    object_length_threshold: 0.1
+    num_points_threshold: 4
+    max_rings_num: 128
+    max_points_num_per_ring: 4000
+    publish_outlier_pointcloud: false
+    min_azimuth_deg: 0.0
+    max_azimuth_deg: 360.0
+    max_distance: 12.0
+    vertical_bins: 128
+    horizontal_bins: 36
+    noise_threshold: 2
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index d1e79bb7..6fad838f 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -209,11 +209,9 @@ def create_parameter_dict(*args):
 
     # 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")}
+        ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
     else:
-        ring_outlier_filter_parameters = {
-            "output_frame": ""
-        }  # keep the output frame as the input frame
+        ring_outlier_output_frame = {"output_frame": ""}  # keep the output frame as the input frame
     ring_outlier_filter_component = ComposableNode(
         package="autoware_pointcloud_preprocessor",
         plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
@@ -222,7 +220,10 @@ def create_parameter_dict(*args):
             ("input", "rectified/pointcloud_ex"),
             ("output", "pointcloud_before_sync"),
         ],
-        parameters=[ring_outlier_filter_parameters],
+        parameters=[
+            load_composable_node_param("ring_outlier_filter_node_param_file"),
+            ring_outlier_output_frame,
+        ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -342,7 +343,11 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("horizontal_resolution", "0.4")
     add_launch_arg(
         "blockage_diagnostics_param_file",
-        [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],
+        [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics.param.yaml"],
+    )
+    add_launch_arg(
+        "ring_outlier_filter_node_param_file",
+        [FindPackageShare("aip_x2_launch"), "/config/ring_outlier_filter_node.param.yaml"],
     )
     add_launch_arg(
         "distortion_corrector_node_param_file",
diff --git a/aip_xx1_gen2_description/urdf/sensors.xacro b/aip_xx1_gen2_description/urdf/sensors.xacro
index 81faabe8..79c2c15f 100644
--- a/aip_xx1_gen2_description/urdf/sensors.xacro
+++ b/aip_xx1_gen2_description/urdf/sensors.xacro
@@ -16,24 +16,6 @@
     yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
   />
   <!-- embedded lidar sensors -->
-  <!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
-  <xacro:VLP-16
-    parent="base_link"
-    name="velodyne_rear"
-    topic="velodyne_rear/velodyne_points"
-    hz="10"
-    samples="220"
-    gpu="false"
-  >
-    <origin
-      xyz="${calibration['base_link']['velodyne_rear_base_link']['x']}
-           ${calibration['base_link']['velodyne_rear_base_link']['y']}
-           ${calibration['base_link']['velodyne_rear_base_link']['z']}"
-      rpy="${calibration['base_link']['velodyne_rear_base_link']['roll']}
-           ${calibration['base_link']['velodyne_rear_base_link']['pitch']}
-           ${calibration['base_link']['velodyne_rear_base_link']['yaw']}"
-    />
-  </xacro:VLP-16> -->
   <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
   <xacro:PandarXT-32
     name="hesai_front_left"
diff --git a/aip_xx1_gen2_launch/config/lidar_gen2.yaml b/aip_xx1_gen2_launch/config/lidar_gen2.yaml
index fcfefdd4..8480292f 100644
--- a/aip_xx1_gen2_launch/config/lidar_gen2.yaml
+++ b/aip_xx1_gen2_launch/config/lidar_gen2.yaml
@@ -6,7 +6,7 @@ launches:
       sensor_frame: hesai_top
       sensor_ip: 192.168.1.201
       data_port: 2368
-      scan_phase: 160
+      scan_phase: 160.0
       vertical_bins: 128
   - sensor_type: hesai_XT32
     namespace: front_left
diff --git a/aip_xx1_gen2_launch/config/lidar_launch.yaml b/aip_xx1_gen2_launch/config/lidar_launch.yaml
deleted file mode 100644
index c702f766..00000000
--- a/aip_xx1_gen2_launch/config/lidar_launch.yaml
+++ /dev/null
@@ -1,70 +0,0 @@
-launches:
-  - sensor_type: velodyne_VLS128
-    namespace: top
-    parameters:
-      max_range: 250.0
-      sensor_frame: velodyne_top
-      sensor_ip: 192.168.1.201
-      data_port: 2368
-      scan_phase: 300.0
-      vertical_bins: 128
-      horizontal_ring_id: 64
-      horizontal_resolution: 0.4
-      is_channel_order_top2down: false
-  - sensor_type: velodyne_VLP16
-    namespace: left
-    parameters:
-      max_range: 5.0
-      sensor_frame: velodyne_left
-      sensor_ip: 192.168.1.202
-      data_port: 2369
-      scan_phase: 180.0
-      cloud_min_angle: 300
-      cloud_max_angle: 60
-      vertical_bins: 16
-      horizontal_ring_id: 0
-      horizontal_resolution: 0.4
-      is_channel_order_top2down: false
-  - sensor_type: velodyne_VLP16
-    namespace: right
-    parameters:
-      max_range: 5.0
-      sensor_frame: velodyne_right
-      sensor_ip: 192.168.1.203
-      data_port: 2370
-      scan_phase: 180.0
-      cloud_min_angle: 300
-      cloud_max_angle: 60
-      vertical_bins: 16
-      horizontal_ring_id: 0
-      horizontal_resolution: 0.4
-      is_channel_order_top2down: false
-  - sensor_type: velodyne_VLP16
-    namespace: rear
-    parameters:
-      max_range: 1.5
-      sensor_frame: velodyne_rear
-      sensor_ip: 192.168.1.204
-      data_port: 2371
-      scan_phase: 180.0
-      cloud_min_angle: 300
-      cloud_max_angle: 60
-      vertical_bins: 16
-      horizontal_ring_id: 0
-      horizontal_resolution: 0.4
-      is_channel_order_top2down: false
-
-preprocessor:
-  input_topics:
-    - /sensing/lidar/top/pointcloud
-    - /sensing/lidar/left/pointcloud
-    - /sensing/lidar/right/pointcloud
-    - /sensing/lidar/rear/pointcloud
-  input_offset:
-    - 0.035
-    - 0.025
-    - 0.025
-    - 0.025
-  timeout_sec: 0.095
-  input_twist_topic_type: twist
-  publish_synchronized_pointcloud: false
diff --git a/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml b/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml
new file mode 100644
index 00000000..05cac6ee
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml
@@ -0,0 +1,97 @@
+/**:
+  # cspell: ignore ntrip
+  # cspell: ignore gpsfix
+  # cspell: ignore gpgga
+  # cspell: ignore gprmc
+  # cspell: ignore gpst
+  # cspell: ignore measepoch
+  # cspell: ignore pvtcartesian
+  # cspell: ignore basevectorcart
+  # cspell: ignore basevectorgeod
+  # cspell: ignore poscovcartesian
+  # cspell: ignore velcovgeodetic
+  # cspell: ignore atteuler
+  # cspell: ignore attcoveuler
+  # cspell: ignore gpgsa
+  # cspell: ignore gpgsv
+  ros__parameters:
+    device: tcp://192.168.20.102:28784
+
+    frame_id: gnss_link
+    aux1_frame_id: aux1
+    get_spatial_config_from_tf: false
+    use_ros_axis_orientation: false
+    receiver_type: gnss
+    multi_antenna: false
+
+    datum: Default
+
+    att_offset:
+      heading: 0.0
+      pitch: 0.0
+
+    ant_type: Unknown
+    ant_serial_nr: Unknown
+    ant_aux1_type: Unknown
+    ant_aux1_serial_nr: Unknown
+
+    polling_period:
+      pvt: 200
+      rest: 200
+
+    use_gnss_time: false
+
+    rtk_settings:
+      ntrip_1:
+        id: ""
+        caster: ""
+        caster_port: 2101
+        username: ""
+        password: ""
+        mountpoint: ""
+        version: "v2"
+        tls: false
+        fingerprint: ""
+        rtk_standard: "auto"
+        send_gga: "auto"
+        keep_open: true
+      ip_server_1:
+        id: "IPS1"
+        port: 28785
+        rtk_standard: "RTCMv3"
+        send_gga: "auto"
+        keep_open: true
+      serial_1:
+        port: ""
+        baud_rate: 115200
+        rtk_standard: "auto"
+        send_gga: "auto"
+        keep_open: true
+
+    publish:
+      # For both GNSS and INS Rxs
+      navsatfix: true
+      gpsfix: false
+      gpgga: false
+      gprmc: false
+      gpst: false
+      measepoch: false
+      pvtcartesian: false
+      pvtgeodetic: true
+      basevectorcart: false
+      basevectorgeod: false
+      poscovcartesian: false
+      poscovgeodetic: true
+      velcovgeodetic: false
+      atteuler: false
+      attcoveuler: false
+      pose: false
+      twist: false
+      diagnostics: true
+      # For GNSS Rx only
+      gpgsa: false
+      gpgsv: false
+
+    # logger
+
+    activate_debug_log: false
diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml
index f035b3aa..775bf214 100644
--- a/aip_xx1_gen2_launch/launch/gnss.launch.xml
+++ b/aip_xx1_gen2_launch/launch/gnss.launch.xml
@@ -22,7 +22,12 @@
 
     <!-- Septentrio GNSS Driver -->
     <group if="$(eval &quot;'$(var launch_driver)' and '$(var gnss_receiver)'=='septentrio'&quot;)">
-      <include file="$(find-pkg-share septentrio_gnss_driver)/launch/mosaic_x5_rover.launch.xml" />
+      <node pkg="septentrio_gnss_driver" name="septentrio" exec="septentrio_gnss_driver_node" if="$(var launch_driver)">
+        <param from="$(find-pkg-share aip_xx1_gen2_launch)/config/mosaic_x5_rover.param.yaml"/>
+        <remap from="navsatfix" to="~/nav_sat_fix"/>
+        <remap from="poscovgeodetic" to="~/poscovgeodetic"/>
+        <remap from="pvtgeodetic" to="~/pvtgeodetic"/>
+      </node>
     </group>
 
     <!-- NavSatFix to MGRS Pose -->
diff --git a/aip_xx1_gen2_launch/launch/imu.launch.xml b/aip_xx1_gen2_launch/launch/imu.launch.xml
index 6e835316..5b5d2ed2 100644
--- a/aip_xx1_gen2_launch/launch/imu.launch.xml
+++ b/aip_xx1_gen2_launch/launch/imu.launch.xml
@@ -36,7 +36,7 @@
 
     <!-- IMU Correction launch-->
     <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_xx1/imu_corrector.param.yaml"/>
+    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1_gen2/imu_corrector.param.yaml"/>
     <include file="$(find-pkg-share autoware_imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="$(var imu_raw_name)"/>
       <arg name="output_topic" value="imu_data"/>
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.py b/aip_xx1_gen2_launch/launch/lidar.launch.py
index 7174fc9f..81a791b7 100644
--- a/aip_xx1_gen2_launch/launch/lidar.launch.py
+++ b/aip_xx1_gen2_launch/launch/lidar.launch.py
@@ -1,4 +1,4 @@
-# Copyright 2024 Tier IV, Inc. All rights reserved.
+# Copyright 2024 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.
@@ -92,11 +92,12 @@ def load_yaml(yaml_file_path):
     path_dictionary = generate_launch_dictionary()
 
     base_parameters = {}
-    base_parameters["host_ip"] = LaunchConfiguration("host_ip")
+    base_parameters["host_ip"] = LaunchConfiguration("host_ip").perform(context)
     base_parameters["vehicle_mirror_param_file"] = LaunchConfiguration(
         "vehicle_mirror_param_file"
     ).perform(context)
     base_parameters["launch_driver"] = LaunchConfiguration("launch_driver").perform(context)
+    base_parameters["launch_hw_monitor"] = LaunchConfiguration("launch_hw_monitor").perform(context)
     base_parameters["vehicle_id"] = LaunchConfiguration("vehicle_id").perform(context)
     base_parameters["pointcloud_container_name"] = LaunchConfiguration(
         "pointcloud_container_name"
@@ -159,7 +160,7 @@ def generate_launch_description():
     config_file_arg = DeclareLaunchArgument(
         "config_file",
         default_value=os.path.join(
-            get_package_share_directory("aip_xx1_gen2_launch"), "config", "lidar_launch.yaml"
+            get_package_share_directory("aip_xx1_gen2_launch"), "config", "lidar_gen2.yaml"
         ),
         description="Path to the configuration file",
     )
@@ -169,6 +170,7 @@ def add_launch_arg(name: str, default_value=None, **kwargs):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value, **kwargs))
 
     add_launch_arg("launch_driver", "true")
+    add_launch_arg("launch_hw_monitor", "true", description="launch hardware monitor")
     add_launch_arg("host_ip", "192.168.1.10")
     add_launch_arg("use_concat_filter", "true")
     add_launch_arg(
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.xml b/aip_xx1_gen2_launch/launch/lidar.launch.xml
deleted file mode 100644
index 4f4b37b7..00000000
--- a/aip_xx1_gen2_launch/launch/lidar.launch.xml
+++ /dev/null
@@ -1,125 +0,0 @@
-<launch>
-
-  <arg name="launch_driver" default="true"/>
-  <arg name="host_ip" default="192.168.1.10"/>
-  <arg name="use_concat_filter" default="true"/>
-  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
-  <arg name="vehicle_mirror_param_file"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="enable_blockage_diag" default="false"/>
-
-  <group>
-    <push-ros-namespace namespace="lidar"/>
-
-    <group>
-      <push-ros-namespace namespace="top"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
-        <arg name="max_range" value="300.0"/>
-        <arg name="sensor_frame" value="hesai_top"/>
-        <arg name="sensor_ip" value="192.168.1.201"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2368"/>
-        <arg name="scan_phase" value="160.0"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
-        <arg name="vertical_bins" value="128"/>
-        <arg name="horizontal_ring_id" value="64"/>
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="front_left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="300.0"/>
-        <arg name="sensor_frame" value="hesai_front_left"/>
-        <arg name="sensor_ip" value="192.168.1.21"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2369"/>
-        <arg name="scan_phase" value="50.0"/>
-        <arg name="cloud_min_angle" value="50"/>
-        <arg name="cloud_max_angle" value="320"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
-        <arg name="vertical_bins" value="16"/>
-        <arg name="horizontal_ring_id" value="0"/>
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="front_right"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="300.0"/>
-        <arg name="sensor_frame" value="hesai_front_right"/>
-        <arg name="sensor_ip" value="192.168.1.22"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2370"/>
-        <arg name="scan_phase" value="310.0"/>
-        <arg name="cloud_min_angle" value="40"/>
-        <arg name="cloud_max_angle" value="310"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
-        <arg name="vertical_bins" value="16"/>
-        <arg name="horizontal_ring_id" value="0"/>
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="side_left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="10.0"/>
-        <arg name="sensor_frame" value="hesai_side_left"/>
-        <arg name="sensor_ip" value="192.168.1.23"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2371"/>
-        <arg name="scan_phase" value="90.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
-        <arg name="vertical_bins" value="16"/>
-        <arg name="horizontal_ring_id" value="0"/>
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="side_right"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="10.0"/>
-        <arg name="sensor_frame" value="hesai_side_right"/>
-        <arg name="sensor_ip" value="192.168.1.24"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2372"/>
-        <arg name="scan_phase" value="270.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
-      </include>
-    </group>
-
-    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/pointcloud_preprocessor.launch.py">
-      <arg name="base_frame" value="base_link"/>
-      <arg name="use_intra_process" value="true"/>
-      <arg name="use_multithread" value="true"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    </include>
-
-  </group>
-</launch>
diff --git a/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
index 8d2428d5..224e90a5 100644
--- a/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
@@ -1,4 +1,4 @@
-# Copyright 2020 Tier IV, Inc. All rights reserved.
+# Copyright 2024 TIER IV, Inc. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml
index 74f24c15..87b928b2 100644
--- a/aip_xx1_gen2_launch/launch/sensing.launch.xml
+++ b/aip_xx1_gen2_launch/launch/sensing.launch.xml
@@ -23,23 +23,26 @@
     <!-- IMU Driver -->
     <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/imu.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
+      <arg name="imu_connection" value="can" />
     </include>
 
     <!-- GNSS Driver -->
     <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/gnss.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
+      <arg name="gnss_receiver" value="septentrio"/>
     </include>
 
     <!-- Radar Driver -->
     <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/radar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
+      <arg name="ars_version" value="ars548" />
     </include>
 
     <!-- Vehicle twist -->
     <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
-      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/vehicle_velocity_converter.param.yaml" />
+      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1_gen2/vehicle_velocity_converter.param.yaml" />
     </include>
 
   </group>
diff --git a/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
index 80cc7944..856eaa32 100644
--- a/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
+++ b/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -12,19 +12,34 @@
 /**:
   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
+      # performance monitoring  ----> To be confirmed in v0.47.0
+      # "blockage: blockage_validation": default
 
       # velodyne
-      velodyne_connection: default
-      velodyne_temperature: default
-      velodyne_rpm: default
+      "velodyne_monitor: velodyne_connection": default
+      "velodyne_monitor: velodyne_temperature": default
+      "velodyne_monitor: velodyne_rpm": default
+
+      # gnss
+      # "connection: gnss_connection": default
+      # "data: gnss_data": default
+      # "antenna: gnss_antenna": default
+      # "tx_usage: gnss_tx_usage": default
+      # "spoofing: gnss_spoofing": default
+      # "jamming: gnss_jamming": default
+      # "fix_topic_status: fix topic status": default
+      "ublox: fix topic status": default
+      "ublox: fix": default
+
+      # camera
+      "topic_state_monitor_camera0: sensing_topic_status": default
+      "topic_state_monitor_camera1: sensing_topic_status": default
+      "topic_state_monitor_camera2: sensing_topic_status": default
+      "topic_state_monitor_camera3: sensing_topic_status": default
+      "topic_state_monitor_camera4: sensing_topic_status": default
+      "topic_state_monitor_camera5: sensing_topic_status": default
+      "topic_state_monitor_camera6: sensing_topic_status": default
 
       # imu
-      gyro_bias_estimator: default
+      "topic_state_monitor_imu: sensing_topic_status": default
+      "gyro_bias_validator: gyro_bias_validator": default
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 279bf9f2..3a628503 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -6,7 +6,7 @@
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="enable_blockage_diag" default="false"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <group>
     <push-ros-namespace namespace="lidar"/>
@@ -49,7 +49,7 @@
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="enable_blockage_diag" value="false"/>
       </include>
     </group>
 
@@ -71,7 +71,7 @@
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="enable_blockage_diag" value="false"/>
       </include>
     </group>
 
@@ -93,7 +93,7 @@
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="enable_blockage_diag" value="false"/>
       </include>
     </group>
 
diff --git a/common_sensor_launch/config/ring_outlier_filter_node.param.yaml b/common_sensor_launch/config/ring_outlier_filter_node.param.yaml
new file mode 100644
index 00000000..76bf6895
--- /dev/null
+++ b/common_sensor_launch/config/ring_outlier_filter_node.param.yaml
@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    distance_ratio: 1.03
+    object_length_threshold: 0.1
+    num_points_threshold: 4
+    max_rings_num: 128
+    max_points_num_per_ring: 4000
+    publish_outlier_pointcloud: false
+    min_azimuth_deg: 0.0
+    max_azimuth_deg: 360.0
+    max_distance: 12.0
+    vertical_bins: 128
+    horizontal_bins: 36
+    noise_threshold: 2
diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index 7d4713fd..dcb260f4 100644
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -2,6 +2,9 @@
 
   <!-- Params -->
   <arg name="launch_driver" default="true"/>
+  <!-- There is an issue where hw_monitor crashes due to data race,
+  so the monitor will now only be launched when explicitly specified with a launch command. -->
+  <arg name="launch_hw_monitor" default="false"/>
 
   <arg name="model" default="Pandar128E4X"/>
   <arg name="sensor_frame" default="pandar"/>
@@ -18,6 +21,7 @@
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
+    <arg name="launch_hw_monitor" value="$(var launch_hw_monitor)"/>
     <arg name="sensor_model" value="$(var model)"/>
     <arg name="return_mode" value="$(var return_mode)"/>
     <arg name="frame_id" value="$(var sensor_frame)"/>
@@ -32,10 +36,10 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
-    <arg name="ptp_profile" value="802.1as"/>
+    <arg name="ptp_profile" value="automotive"/>
     <arg name="ptp_transport_type" value="L2"/>
     <arg name="ptp_switch_type" value="NON_TSN"/>
-    <arg name="ptp_domain" value="1"/>
-    <arg name="setup_sensor" value="false"/>
+    <arg name="ptp_domain" value="0"/>
+    <arg name="setup_sensor" value="true"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index c6ea9b64..e7e93a1b 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -2,6 +2,9 @@
 
   <!-- Params -->
   <arg name="launch_driver" default="true"/>
+  <!-- There is an issue where hw_monitor crashes due to data race,
+  so the monitor will now only be launched when explicitly specified with a launch command. -->
+  <arg name="launch_hw_monitor" default="false"/>
 
   <arg name="model" default="PandarXT32"/>
   <arg name="sensor_frame" default="pandar"/>
@@ -18,6 +21,7 @@
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
+    <arg name="launch_hw_monitor" value="$(var launch_hw_monitor)"/>
     <arg name="sensor_model" value="$(var model)"/>
     <arg name="return_mode" value="$(var return_mode)"/>
     <arg name="frame_id" value="$(var sensor_frame)"/>
@@ -32,9 +36,9 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
-    <arg name="ptp_profile" value="1588v2"/>
-    <arg name="ptp_switch_type" value="TSN"/>
-    <arg name="ptp_transport_type" value="UDP"/>
+    <arg name="ptp_profile" value="automotive"/>
+    <arg name="ptp_switch_type" value="NON_TSN"/>
+    <arg name="ptp_transport_type" value="L2"/>
     <arg name="setup_sensor" value="true"/>
     <arg name="retry_hw" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index e9660646..66336263 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -25,6 +25,7 @@
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch_ros.parameter_descriptions import ParameterFile
 from launch_ros.substitutions import FindPackageShare
 import yaml
 
@@ -158,6 +159,45 @@ def create_parameter_dict(*args):
         )
     )
 
+    # There is an issue where hw_monitor crashes due to data race,
+    # so the monitor will now only be launched when explicitly specified with a launch command.
+    launch_hw_monitor: bool = IfCondition(LaunchConfiguration("launch_hw_monitor")).evaluate(
+        context
+    )
+    launch_driver: bool = IfCondition(LaunchConfiguration("launch_driver")).evaluate(context)
+    if launch_hw_monitor and launch_driver:
+        nodes.append(
+            ComposableNode(
+                package="nebula_ros",
+                plugin=sensor_make + "HwMonitorRosWrapper",
+                name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node",
+                parameters=[
+                    {
+                        "sensor_model": sensor_model,
+                        **create_parameter_dict(
+                            "return_mode",
+                            "frame_id",
+                            "scan_phase",
+                            "sensor_ip",
+                            "host_ip",
+                            "data_port",
+                            "gnss_port",
+                            "packet_mtu_size",
+                            "rotation_speed",
+                            "cloud_min_angle",
+                            "cloud_max_angle",
+                            "diag_span",
+                            "dual_return_distance_threshold",
+                            "delay_monitor_ms",
+                        ),
+                    },
+                ],
+                extra_arguments=[
+                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
+                ],
+            )
+        )
+
     cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
     cropbox_parameters["negative"] = True
 
@@ -221,13 +261,18 @@ def create_parameter_dict(*args):
         )
     )
 
+    ring_outlier_filter_node_param = ParameterFile(
+        param_file=LaunchConfiguration("ring_outlier_filter_node_param_file").perform(context),
+        allow_substs=True,
+    )
+
     # 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")}
+    if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true":
+        ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
     else:
-        ring_outlier_filter_parameters = {
-            "output_frame": ""
-        }  # keep the output frame as the input frame
+        # keep the output frame as the input frame
+        ring_outlier_output_frame = {"output_frame": ""}
+
     nodes.append(
         ComposableNode(
             package="autoware_pointcloud_preprocessor",
@@ -237,7 +282,7 @@ def create_parameter_dict(*args):
                 ("input", "rectified/pointcloud_ex"),
                 ("output", "pointcloud_before_sync"),
             ],
-            parameters=[ring_outlier_filter_parameters],
+            parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -336,6 +381,11 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("sensor_model", description="sensor model name")
     add_launch_arg("config_file", "", description="sensor configuration file")
     add_launch_arg("launch_driver", "True", "do launch driver")
+    add_launch_arg(
+        "launch_hw_monitor",
+        "False",
+        "do launch hardware monitor. Due to an issue where hw_monitor crashes due to data conflicts, the monitor in launched only when explicitly specified",
+    )
     add_launch_arg("setup_sensor", "True", "configure sensor")
     add_launch_arg("retry_hw", "false", "retry hw")
     add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
@@ -382,6 +432,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "distortion_corrector_node_param_file",
         [FindPackageShare("common_sensor_launch"), "/config/distortion_corrector_node.param.yaml"],
     )
+    add_launch_arg(
+        "ring_outlier_filter_node_param_file",
+        [FindPackageShare("common_sensor_launch"), "/config/ring_outlier_filter_node.param.yaml"],
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",