diff --git a/aip_xx1_gen2_description/CMakeLists.txt b/aip_xx1_gen2_description/CMakeLists.txt
new file mode 100644
index 00000000..549de0f8
--- /dev/null
+++ b/aip_xx1_gen2_description/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(aip_xx1_gen2_description)
+
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+    urdf
+    config
+)
diff --git a/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
new file mode 100644
index 00000000..88288533
--- /dev/null
+++ b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
@@ -0,0 +1,113 @@
+sensor_kit_base_link:
+  camera0/camera_link:
+    x: 0.372 # Design Value
+    y: 0.0 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera1/camera_link:
+    x: 0.372 # Design Value
+    y: 0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera2/camera_link:
+    x: 0.372 # Design Value
+    y: -0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera3/camera_link:
+    x: 0.133 # Design Value
+    y: 0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.872665 # Design Value
+  camera4/camera_link:
+    x: 0.133 # Design Value
+    y: -0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -0.872665 # Design Value
+  camera5/camera_link:
+    x: 0.095 # Design Value
+    y: 0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.0472 # Design Value
+  camera6/camera_link:
+    x: 0.095 # Design Value
+    y: -0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.0472 # Design Value
+  camera7/camera_link:
+    x: -0.345 # Design Value
+    y: 0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.70526 # Design Value
+  camera8/camera_link:
+    x: -0.345 # Design Value
+    y: -0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.70526 # Design Value
+  camera9/camera_link:
+    x: -0.362 # Design Value
+    y: 0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.79253 # Design Value
+  camera10/camera_link:
+    x: -0.362 # Design Value
+    y: -0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.79253 # Design Value
+  hesai_top_base_link:
+    x: 0.0 # Design Value
+    y: 0.0 # Design Value
+    z: 0.0 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 4.36332298038 # Design Value
+  hesai_left_base_link:
+    x: 0.0 # Design Value
+    y: 0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.872665 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
+  hesai_right_base_link:
+    x: 0.0 # Design Value
+    y: -0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.69813132679 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  gnss_link:
+    x: -0.279 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  tamagawa/imu_link:
+    x: -0.129 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
+    roll: 3.14159265359
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
diff --git a/aip_xx1_gen2_description/config/sensors_calibration.yaml b/aip_xx1_gen2_description/config/sensors_calibration.yaml
new file mode 100644
index 00000000..a57d3ea9
--- /dev/null
+++ b/aip_xx1_gen2_description/config/sensors_calibration.yaml
@@ -0,0 +1,71 @@
+base_link:
+  sensor_kit_base_link:
+    x: 0.9
+    y: 0.0
+    z: 2.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  hesai_front_left_base_link:
+    x: 3.373 # Design Value
+    y: 0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.44346132679 # Design Value
+  hesai_front_right_base_link:
+    x: 3.373 # Design Value
+    y: -0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.69813132679 # Design Value
+  # velodyne_rear_base_link: #unused
+  #   x: -0.358
+  #   y: 0.0
+  #   z: 1.631
+  #   roll: -0.02
+  #   pitch: 0.7281317
+  #   yaw: 3.141592
+  front_center/radar_link:
+    x: 3.520 # Design Value
+    y: 0.0 # Design Value
+    z: 0.6352
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  front_right/radar_link:
+    x: 3.384 # Design Value
+    y: -0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.22173 # Design Value
+  front_left/radar_link:
+    x: 3.384 # Design Value
+    y: 0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.22173 # Design Value
+  rear_center/radar_link:
+    x: -0.858 # Design Value
+    y: 0.0 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.141592 # Design Value
+  rear_right/radar_link:
+    x: -0.782 # Design Value
+    y: -0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.0944 # Design Value
+  rear_left/radar_link:
+    x: -0.782 # Design Value
+    y: 0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.0944 # Design Value
diff --git a/aip_xx1_gen2_description/package.xml b/aip_xx1_gen2_description/package.xml
new file mode 100644
index 00000000..9b010d72
--- /dev/null
+++ b/aip_xx1_gen2_description/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>aip_xx1_gen2_description</name>
+  <version>0.1.0</version>
+  <description>The aip_xx1_gen2_description package</description>
+
+  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>velodyne_description</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/aip_xx1_gen2_description/urdf/sensor_kit.xacro b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
new file mode 100644
index 00000000..137b3589
--- /dev/null
+++ b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
@@ -0,0 +1,253 @@
+<?xml version="1.0"?>
+<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="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_ot128.xacro"/>
+    <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+    <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
+    <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
+
+    <!-- <xacro:property name="pi" value="3.1415926835897931"/> -->
+    <xacro:arg name="gpu" default="false"/>
+    <xacro:arg name="config_dir" default="$(find aip_xx1_gen2_description)/config"/>
+
+    <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
+
+    <joint name="${sensor_kit_base_link}_joint" type="fixed">
+      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
+      <parent link="${parent}"/>
+      <child link="${sensor_kit_base_link}"/>
+    </joint>
+    <link name="${sensor_kit_base_link}">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </link>
+
+    <!-- sensor -->
+    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
+    <!-- lidar -->
+    <xacro:PandarOT-128
+      name="hesai_top"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_top_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_top_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_top_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_top_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_top_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_top_base_link']['yaw']}"
+    />
+    <xacro:PandarXT-32
+      name="hesai_side_right"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_right_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_right_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_right_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_right_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_right_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_right_base_link']['yaw']}"
+    />
+    <xacro:PandarXT-32
+      name="hesai_side_left"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_left_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_left_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_left_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_left_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_left_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_left_base_link']['yaw']}"
+    />
+
+    <!-- camera -->
+    <xacro:monocular_camera_macro
+      name="camera0/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera0/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera0/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera0/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera0/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera0/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera0/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera1/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera1/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera1/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera1/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera1/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera1/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera1/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera2/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera2/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera2/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera2/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera2/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera2/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera2/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera3/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera3/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera3/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera3/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera3/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera3/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera3/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera4/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera4/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera4/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera4/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera4/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera4/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera4/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera5/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera5/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera5/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera5/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera5/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera5/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera5/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera6/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera6/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera6/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera6/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera6/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera6/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera6/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera7/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera7/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera7/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera7/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera7/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera7/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera7/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera8/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera8/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera8/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera8/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera8/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera8/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera8/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera9/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera9/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera9/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera9/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera9/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera9/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera9/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera10/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera10/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera10/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera10/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera10/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera10/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera10/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <!-- gnss -->
+    <xacro:imu_macro
+      name="gnss"
+      parent="sensor_kit_base_link"
+      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"
+    />
+    <!-- imu -->
+    <xacro:imu_macro
+      name="tamagawa/imu"
+      parent="sensor_kit_base_link"
+      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_xx1_gen2_description/urdf/sensors.xacro b/aip_xx1_gen2_description/urdf/sensors.xacro
new file mode 100644
index 00000000..81faabe8
--- /dev/null
+++ b/aip_xx1_gen2_description/urdf/sensors.xacro
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="vehicle" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="config_dir" default="$(find aip_xx1_gen2_description)/config"/>
+  <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>
+
+  <!-- sensor kit -->
+  <xacro:include filename="sensor_kit.xacro"/>
+  <xacro:sensor_kit_macro
+    parent="base_link"
+    x="${calibration['base_link']['sensor_kit_base_link']['x']}"
+    y="${calibration['base_link']['sensor_kit_base_link']['y']}"
+    z="${calibration['base_link']['sensor_kit_base_link']['z']}"
+    roll="${calibration['base_link']['sensor_kit_base_link']['roll']}"
+    pitch="${calibration['base_link']['sensor_kit_base_link']['pitch']}"
+    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"
+    parent="base_link"
+    x="${calibration['base_link']['hesai_front_left_base_link']['x']}"
+    y="${calibration['base_link']['hesai_front_left_base_link']['y']}"
+    z="${calibration['base_link']['hesai_front_left_base_link']['z']}"
+    roll="${calibration['base_link']['hesai_front_left_base_link']['roll']}"
+    pitch="${calibration['base_link']['hesai_front_left_base_link']['pitch']}"
+    yaw="${calibration['base_link']['hesai_front_left_base_link']['yaw']}"
+  />
+  <xacro:PandarXT-32
+    name="hesai_front_right"
+    parent="base_link"
+    x="${calibration['base_link']['hesai_front_right_base_link']['x']}"
+    y="${calibration['base_link']['hesai_front_right_base_link']['y']}"
+    z="${calibration['base_link']['hesai_front_right_base_link']['z']}"
+    roll="${calibration['base_link']['hesai_front_right_base_link']['roll']}"
+    pitch="${calibration['base_link']['hesai_front_right_base_link']['pitch']}"
+    yaw="${calibration['base_link']['hesai_front_right_base_link']['yaw']}"
+  />
+
+  <!-- embedded radar sensors -->
+  <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
+  <xacro:radar_macro
+    name="front_center/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['front_center/radar_link']['x']}"
+    y="${calibration['base_link']['front_center/radar_link']['y']}"
+    z="${calibration['base_link']['front_center/radar_link']['z']}"
+    roll="${calibration['base_link']['front_center/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_center/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_center/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="front_right/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['front_right/radar_link']['x']}"
+    y="${calibration['base_link']['front_right/radar_link']['y']}"
+    z="${calibration['base_link']['front_right/radar_link']['z']}"
+    roll="${calibration['base_link']['front_right/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_right/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_right/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="front_left/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['front_left/radar_link']['x']}"
+    y="${calibration['base_link']['front_left/radar_link']['y']}"
+    z="${calibration['base_link']['front_left/radar_link']['z']}"
+    roll="${calibration['base_link']['front_left/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_left/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_left/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="rear_center/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['rear_center/radar_link']['x']}"
+    y="${calibration['base_link']['rear_center/radar_link']['y']}"
+    z="${calibration['base_link']['rear_center/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_center/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_center/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_center/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="rear_right/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['rear_right/radar_link']['x']}"
+    y="${calibration['base_link']['rear_right/radar_link']['y']}"
+    z="${calibration['base_link']['rear_right/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_right/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_right/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_right/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="rear_left/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['rear_left/radar_link']['x']}"
+    y="${calibration['base_link']['rear_left/radar_link']['y']}"
+    z="${calibration['base_link']['rear_left/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_left/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_left/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_left/radar_link']['yaw']}"
+  />
+</robot>
diff --git a/aip_xx1_gen2_launch/CMakeLists.txt b/aip_xx1_gen2_launch/CMakeLists.txt
new file mode 100644
index 00000000..7f8d9f60
--- /dev/null
+++ b/aip_xx1_gen2_launch/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.5)
+project(aip_xx1_gen2_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  data
+  config
+)
diff --git a/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
new file mode 100644
index 00000000..56fc9dbd
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -0,0 +1,118 @@
+/**:
+  ros__parameters:
+    sensing:
+      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
+          analyzers:
+            performance_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: performance_monitoring
+              analyzers:
+                blockage:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: blockage
+                  contains: [": blockage_validation"]
+                  timeout: 1.0
+            velodyne:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: velodyne
+              analyzers:
+                health_monitoring:
+                  type: diagnostic_aggregator/AnalyzerGroup
+                  path: health_monitoring
+                  analyzers:
+                    connection:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: connection
+                      contains: [": velodyne_connection"]
+                      timeout: 3.0
+
+                    temperature:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: temperature
+                      contains: [": velodyne_temperature"]
+                      timeout: 3.0
+
+                    rpm:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: rpm
+                      contains: [": velodyne_rpm"]
+                      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
+
+                data:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: data
+                  contains: [": gnss_data"]
+                  timeout: 3.0
+
+                antenna:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: antenna
+                  contains: [": gnss_antenna"]
+                  timeout: 3.0
+
+                tx_usage:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: tx_usage
+                  contains: [": gnss_tx_usage"]
+                  timeout: 3.0
+
+                spoofing:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: spoofing
+                  contains: [": gnss_spoofing"]
+                  timeout: 3.0
+
+                jamming:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: jamming
+                  contains: [": gnss_jamming"]
+                  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
+          path: imu
+          analyzers:
+            bias_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: bias_monitoring
+              analyzers:
+                gyro_bias_validator:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: gyro_bias_validator
+                  contains: [": gyro_bias_validator"]
+                  timeout: 1.0
diff --git a/aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
new file mode 100644
index 00000000..80cc7944
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -0,0 +1,30 @@
+# Description:
+#   name: diag name
+#   is_active: Force update or not
+#   status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
+#
+# Note:
+#
+# default values are:
+#   is_active: "true"
+#   status: "OK"
+---
+/**:
+  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
+
+      # velodyne
+      velodyne_connection: default
+      velodyne_temperature: default
+      velodyne_rpm: default
+
+      # imu
+      gyro_bias_estimator: default
diff --git a/aip_xx1_gen2_launch/config/gyro_bias_estimator.param.yaml b/aip_xx1_gen2_launch/config/gyro_bias_estimator.param.yaml
new file mode 100644
index 00000000..d552569f
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/gyro_bias_estimator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    gyro_bias_threshold: 0.008 # [rad/s]
+    timer_callback_interval_sec: 0.5 # [sec]
+    diagnostics_updater_interval_sec: 0.5 # [sec]
+    straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]
diff --git a/aip_xx1_gen2_launch/config/lidar_gen2.yaml b/aip_xx1_gen2_launch/config/lidar_gen2.yaml
new file mode 100644
index 00000000..fcfefdd4
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/lidar_gen2.yaml
@@ -0,0 +1,69 @@
+launches:
+  - sensor_type: hesai_OT128
+    namespace: top
+    parameters:
+      max_range: 300.0
+      sensor_frame: hesai_top
+      sensor_ip: 192.168.1.201
+      data_port: 2368
+      scan_phase: 160
+      vertical_bins: 128
+  - sensor_type: hesai_XT32
+    namespace: front_left
+    parameters:
+      max_range: 300.0
+      sensor_frame: hesai_front_left
+      sensor_ip: 192.168.1.21
+      data_port: 2369
+      scan_phase: 50.0
+      cloud_min_angle: 50
+      cloud_max_angle: 320
+      vertical_bins: 16
+      horizontal_ring_id: 0
+  - sensor_type: hesai_XT32
+    namespace: front_right
+    parameters:
+      max_range: 300.0
+      sensor_frame: hesai_front_right
+      sensor_ip: 192.168.1.22
+      data_port: 2370
+      scan_phase: 310.0
+      cloud_min_angle: 40
+      cloud_max_angle: 310
+  - sensor_type: hesai_XT32
+    namespace: side_left
+    parameters:
+      max_range: 10.0
+      sensor_frame: hesai_side_left
+      sensor_ip: 192.168.1.23
+      data_port: 2371
+      scan_phase: 90.0
+      cloud_min_angle: 90
+      cloud_max_angle: 270
+  - sensor_type: hesai_XT32
+    namespace: side_right
+    parameters:
+      max_range: 10.0
+      sensor_frame: hesai_side_right
+      sensor_ip: 192.168.1.24
+      data_port: 2372
+      scan_phase: 270.0
+      cloud_min_angle: 90
+      cloud_max_angle: 270
+
+preprocessor:
+  input_topics:
+    - /sensing/lidar/top/pointcloud_before_sync
+    - /sensing/lidar/side_left/pointcloud_before_sync
+    - /sensing/lidar/side_right/pointcloud_before_sync
+    - /sensing/lidar/front_left/pointcloud_before_sync
+    - /sensing/lidar/front_right/pointcloud_before_sync
+  input_offset:
+    - 0.035
+    - 0.025
+    - 0.025
+    - 0.025
+    - 0.025
+  timeout_sec: 0.095
+  input_twist_topic_type: twist
+  publish_synchronized_pointcloud: true
diff --git a/aip_xx1_gen2_launch/config/lidar_launch.yaml b/aip_xx1_gen2_launch/config/lidar_launch.yaml
new file mode 100644
index 00000000..c702f766
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/lidar_launch.yaml
@@ -0,0 +1,70 @@
+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/radar_simple_object_merger.param.yaml b/aip_xx1_gen2_launch/config/radar_simple_object_merger.param.yaml
new file mode 100644
index 00000000..a817e0b7
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/radar_simple_object_merger.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    update_rate_hz: 20.0
+    new_frame_id: "base_link"
+    timeout_threshold: 1.0
+    input_topics: ["/sensing/radar/front_center/detected_objects", "/sensing/radar/front_left/detected_objects", "/sensing/radar/rear_left/detected_objects", "/sensing/radar/rear_center/detected_objects", "/sensing/radar/rear_right/detected_objects", "/sensing/radar/front_right/detected_objects"]
diff --git a/aip_xx1_gen2_launch/data/traffic_light_camera.yaml b/aip_xx1_gen2_launch/data/traffic_light_camera.yaml
new file mode 100644
index 00000000..458ad17c
--- /dev/null
+++ b/aip_xx1_gen2_launch/data/traffic_light_camera.yaml
@@ -0,0 +1,20 @@
+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_xx1_gen2_launch/launch/camera.launch.xml b/aip_xx1_gen2_launch/launch/camera.launch.xml
new file mode 100644
index 00000000..041c70c8
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/camera.launch.xml
@@ -0,0 +1,19 @@
+<launch>
+
+  <arg name="launch_driver" default="true" />
+  <arg name="camera_type" default="left" />
+
+  <group>
+    <push-ros-namespace namespace="camera"/>
+    <group>
+      <push-ros-namespace namespace="traffic_light"/>
+
+      <!-- (usb_cam_node is assumed to have launched on logging PC) -->
+      <node pkg="topic_tools" exec="relay" name="tl_camera_info_relay" output="log"
+	    args="$(var camera_type)/camera_info camera_info"/>
+
+      <node pkg="topic_tools" exec="relay" name="tl_compressed_image_relay" output="log"
+	    args="$(var camera_type)/image_raw/compressed image_raw/compressed"/>
+    </group>
+  </group>
+</launch>
diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml
new file mode 100644
index 00000000..37ad6bde
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/gnss.launch.xml
@@ -0,0 +1,41 @@
+<launch>
+
+  <arg name="launch_driver" default="true" />
+  <arg name="gnss_receiver" default="ublox" description="ublox(default) or septentrio"/>
+
+  <group>
+    <push-ros-namespace namespace="gnss"/>
+
+    <!-- Switch topic name -->
+    <let name="navsatfix_topic_name" value="ublox/nav_sat_fix" if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)" />
+    <let name="navpvt_topic_name" value="ublox/navpvt" if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)" />
+    <let name="navsatfix_topic_name" value="septentrio/nav_sat_fix" if="$(eval &quot;'$(var gnss_receiver)'=='septentrio'&quot;)"/>
+    <let name="navpvt_topic_name" value="septentrio/navpvt/unused" if="$(eval &quot;'$(var gnss_receiver)'=='septentrio'&quot;)"/>
+
+    <!-- Ublox Driver -->
+    <group if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)">
+      <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)" respawn="true" respawn_delay="10.0">
+        <remap from="~/fix" to="~/nav_sat_fix" />
+        <param from="$(find-pkg-share ublox_gps)/config/c94_f9p_rover.yaml"/>
+      </node>
+    </group>
+
+    <!-- Septentrio GNSS Driver -->
+    <group if="$(eval &quot;'$(var launch_driver)' and '$(var gnss_receiver)'=='septentrio'&quot;)">
+      <include file="$(find-pkg-share septentrio_gnss_driver)/launch/mosaic_x5_rover.launch.xml" />
+    </group>
+
+    <!-- NavSatFix to MGRS Pose -->
+    <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
+      <arg name="input_topic_fix" value="$(var navsatfix_topic_name)" />
+      <arg name="input_topic_navpvt" value="$(var navpvt_topic_name)" />
+
+      <arg name="output_topic_gnss_pose" value="pose" />
+      <arg name="output_topic_gnss_pose_cov" value="pose_with_covariance" />
+      <arg name="output_topic_gnss_fixed" value="fixed" />
+
+      <arg name="use_ublox_receiver" value="true" />
+    </include>
+
+  </group>
+</launch>
diff --git a/aip_xx1_gen2_launch/launch/imu.launch.xml b/aip_xx1_gen2_launch/launch/imu.launch.xml
new file mode 100644
index 00000000..04011706
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/imu.launch.xml
@@ -0,0 +1,56 @@
+<launch>
+
+  <arg name="launch_driver" default="true" />
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+  <arg name="imu_connection" default="$(env IMU_CONNECTION serial)" description="serial or can" />
+
+  <group>
+    <push-ros-namespace namespace="imu"/>
+
+    <!-- Use Serial Driver to connect to IMU  -->
+    <group if="$(eval &quot;'$(var imu_connection)'=='serial'&quot;)">
+      <push-ros-namespace namespace="tamagawa"/>
+      <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)" respawn="true" respawn_delay="10.0">
+        <remap from="imu/data_raw" to="imu_raw" />
+        <param name="port" value="/dev/imu" />
+        <param name="imu_frame_id" value="tamagawa/imu_link" />
+      </node>
+    </group>
+
+    <!-- Use CAN to connect to IMU  -->
+    <group if="$(eval &quot;'$(var imu_connection)'=='can'&quot;)">
+      <arg name="interface" default="canImu"/>
+      <arg name="receiver_interval_sec" default="0.01"/>
+      <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+      <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="$(var receiver_interval_sec)"/>
+      </include>
+      <node pkg="tamagawa_imu_driver" name="tag_can_driver" exec="tag_can_driver" if="$(var launch_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>
+
+    <!-- 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"/>
+    <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="param_file" value="$(var imu_corrector_param_file)"/>
+    </include>
+
+    <!-- Gyro Bias Estimator-->
+    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_gen2_launch)/config/gyro_bias_estimator.param.yaml"/>
+    <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
+      <arg name="input_imu_raw" value="$(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>
+
+</launch>
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.py b/aip_xx1_gen2_launch/launch/lidar.launch.py
new file mode 100644
index 00000000..7174fc9f
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/lidar.launch.py
@@ -0,0 +1,188 @@
+# 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.
+# 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 copy import deepcopy
+import os
+from typing import Any
+from typing import List
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import GroupAction
+from launch.actions import IncludeLaunchDescription
+from launch.actions import OpaqueFunction
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import EnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import PushRosNamespace
+import yaml
+
+
+def join_list_of_arguments(arguments: List[Any]) -> str:
+    """Join a list of arguments into a string, used by Include Launch Description.
+
+    Example:
+        join_list_of_arguments([1,2,3]) -> "[1, 2, 3]"
+    """
+    return f"[{', '.join([str(arg) for arg in arguments])}]"
+
+
+def generate_launch_dictionary():
+    path_dictionary = {
+        "hesai_OT128": AnyLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("common_sensor_launch"),
+                "launch",
+                "hesai_OT128.launch.xml",
+            )
+        ),
+        "hesai_XT32": AnyLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("common_sensor_launch"),
+                "launch",
+                "hesai_XT32.launch.xml",
+            )
+        ),
+        "velodyne_VLS128": AnyLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("common_sensor_launch"),
+                "launch",
+                "velodyne_VLS128.launch.xml",
+            )
+        ),
+        "velodyne_VLP16": AnyLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("common_sensor_launch"),
+                "launch",
+                "velodyne_VLP16.launch.xml",
+            )
+        ),
+        "livox_horizon": AnyLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("common_sensor_launch"),
+                "launch",
+                "livox_horizon.launch.py",
+            )
+        ),
+    }
+    return path_dictionary
+
+
+def load_sub_launches_from_yaml(context, *args, **kwargs):
+    def load_yaml(yaml_file_path):
+        with open(LaunchConfiguration(yaml_file_path).perform(context), "r") as f:
+            return yaml.safe_load(f)
+
+    config = load_yaml("config_file")
+
+    path_dictionary = generate_launch_dictionary()
+
+    base_parameters = {}
+    base_parameters["host_ip"] = LaunchConfiguration("host_ip")
+    base_parameters["vehicle_mirror_param_file"] = LaunchConfiguration(
+        "vehicle_mirror_param_file"
+    ).perform(context)
+    base_parameters["launch_driver"] = LaunchConfiguration("launch_driver").perform(context)
+    base_parameters["vehicle_id"] = LaunchConfiguration("vehicle_id").perform(context)
+    base_parameters["pointcloud_container_name"] = LaunchConfiguration(
+        "pointcloud_container_name"
+    ).perform(context)
+    base_parameters["enable_blockage_diag"] = LaunchConfiguration("enable_blockage_diag").perform(
+        context
+    )
+
+    sub_launch_actions = []
+    for launch in config["launches"]:
+        launch_parameters = deepcopy(base_parameters)
+        launch_parameters.update(launch["parameters"])  # dict
+        launch_parameter_list_tuple = [(str(k), str(v)) for k, v in launch_parameters.items()]
+        sub_launch_action = GroupAction(
+            [
+                PushRosNamespace(launch["namespace"]),
+                IncludeLaunchDescription(
+                    deepcopy(path_dictionary[launch["sensor_type"]]),
+                    launch_arguments=launch_parameter_list_tuple,
+                ),
+            ]
+        )
+        sub_launch_actions.append(sub_launch_action)
+
+    processor_dict = config["preprocessor"]
+    sub_launch_actions.append(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(
+                    get_package_share_directory("aip_xx1_gen2_launch"),
+                    "launch",
+                    "pointcloud_preprocessor.launch.py",
+                )
+            ),
+            launch_arguments=[
+                ("base_frame", "base_link"),
+                ("use_multithread", "true"),
+                ("use_intra_process", "true"),
+                ("use_pointcloud_container", LaunchConfiguration("use_pointcloud_container")),
+                ("pointcloud_container_name", LaunchConfiguration("pointcloud_container_name")),
+                ("input_topics", join_list_of_arguments(processor_dict["input_topics"])),
+                ("input_offset", join_list_of_arguments(processor_dict["input_offset"])),
+                ("timeout_sec", str(processor_dict["timeout_sec"])),
+                ("input_twist_topic_type", str(processor_dict["input_twist_topic_type"])),
+                (
+                    "publish_synchronized_pointcloud",
+                    str(processor_dict["publish_synchronized_pointcloud"]),
+                ),
+            ],
+        )
+    )
+    return [
+        GroupAction([PushRosNamespace("lidar"), *sub_launch_actions]),
+    ]
+
+
+def generate_launch_description():
+    # Define launch arguments
+    launch_arguments = []
+    config_file_arg = DeclareLaunchArgument(
+        "config_file",
+        default_value=os.path.join(
+            get_package_share_directory("aip_xx1_gen2_launch"), "config", "lidar_launch.yaml"
+        ),
+        description="Path to the configuration file",
+    )
+    launch_arguments.append(config_file_arg)
+
+    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("host_ip", "192.168.1.10")
+    add_launch_arg("use_concat_filter", "true")
+    add_launch_arg(
+        "vehicle_id",
+        default_value=EnvironmentVariable("VEHICLE_ID", default_value="default"),
+    )
+    add_launch_arg("vehicle_mirror_param_file")
+    add_launch_arg("use_pointcloud_container", "false", description="launch pointcloud container")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("enable_blockage_diag", "false")
+
+    # Create launch description with the config_file argument
+    ld = LaunchDescription(launch_arguments)
+    # Add sub-launch files dynamically based on the YAML configuration
+    ld.add_action(OpaqueFunction(function=load_sub_launches_from_yaml))
+
+    return ld
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.xml b/aip_xx1_gen2_launch/launch/lidar.launch.xml
new file mode 100644
index 00000000..4f4b37b7
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/lidar.launch.xml
@@ -0,0 +1,125 @@
+<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
new file mode 100644
index 00000000..433b7f58
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
@@ -0,0 +1,100 @@
+# 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 LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
+
+
+def launch_setup(context, *args, **kwargs):
+    # set concat filter as a component
+    concat_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+        name="concatenate_data",
+        remappings=[
+            ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
+            ("output", "concatenated/pointcloud"),
+        ],
+        parameters=[
+            {
+                "input_topics": LaunchConfiguration("input_topics"),
+                "output_frame": LaunchConfiguration("base_frame"),
+                "input_offset": LaunchConfiguration(
+                    "input_offset"
+                ),  # each sensor will wait 60, 70, 70, 70ms
+                "timeout_sec": LaunchConfiguration("timeout_sec"),  # set shorter than 100ms
+                "input_twist_topic_type": LaunchConfiguration("input_twist_topic_type"),
+                "publish_synchronized_pointcloud": LaunchConfiguration(
+                    "publish_synchronized_pointcloud"
+                ),
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
+    # load concat or passthrough filter
+    concat_loader = LoadComposableNodes(
+        composable_node_descriptions=[concat_component],
+        target_container=LaunchConfiguration("pointcloud_container_name"),
+        condition=IfCondition(LaunchConfiguration("use_concat_filter")),
+    )
+
+    return [concat_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("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("individual_container_name", "concatenate_container")
+    add_launch_arg(
+        "input_topics",
+        "[/sensing/lidar/top/pointcloud, /sensing/lidar/left/pointcloud, /sensing/lidar/right/pointcloud, /sensing/lidar/rear/pointcloud]",
+    )
+    add_launch_arg("input_offset", "[0.035, 0.025, 0.025, 0.025]")
+    add_launch_arg("timeout_sec", "0.095")
+    add_launch_arg("input_twist_topic_type", "twist")
+    add_launch_arg("publish_synchronized_pointcloud", "False")
+
+    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_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml
new file mode 100644
index 00000000..7eb4dbcb
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/radar.launch.xml
@@ -0,0 +1,236 @@
+<launch>
+  <arg name="ars_version" default="$(env ARS_VERSION ars408)" description="ars408 or ars548" />
+
+
+  <group if="$(eval &quot;'$(var ars_version)'=='ars408'&quot;)">
+    <arg name="launch_driver" default="true" />
+    <arg name="input/frame" default="from_can_bus" />
+    <arg name="radar_can_device" default="canRadar" />
+
+    <push-ros-namespace namespace="radar"/>
+
+    <group>
+      <push-ros-namespace namespace="front_center"/>
+
+      <include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
+        <arg name="launch_driver" value="$(var launch_driver)" />
+        <arg name="interface" value="$(var radar_can_device)" />
+        <arg name="input/frame" value="$(var input/frame)" />
+        <arg name="output_frame" value="ars408_front_center" />
+      </include>
+    </group>
+
+    <node pkg="topic_tools" exec="relay" name="radar_relay" output="log" args="front_center/detected_objects detected_objects"/>
+
+  </group>
+
+  <group if="$(eval &quot;'$(var ars_version)'=='ars548'&quot;)">
+    <let name="odometry_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+    <let name="acceleration_topic" value="/localization/acceleration"/>
+    <let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
+    <arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>
+    <push-ros-namespace namespace="radar"/>
+
+    <node pkg="topic_tools" exec="transform" name="steer_angle_transform" output="screen" args="/vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float32 'std_msgs.msg.Float32(data=m.steering_tire_angle)'  --import autoware_auto_vehicle_msgs std_msgs --wait-for-start"/>
+    <!-- ros2 run topic_tools transform /vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float64 'std_msgs.msg.Float64(data=m.steering_tire_angle)'  \-\-import autoware_auto_vehicle_msgs std_msgs -->
+
+    <group>
+      <push-ros-namespace namespace="front_center"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.114"/>
+          <arg name="frame_id" value="front_center/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="front_left"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.115"/>
+          <arg name="frame_id" value="front_left/radar_link"/>
+          <arg name="object_frame" value="front_left/radar_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="front_right"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.116"/>
+          <arg name="frame_id" value="front_right/radar_link"/>
+          <arg name="object_frame" value="front_right/radar_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="rear_center"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.117"/>
+          <arg name="frame_id" value="rear_center/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="rear_left"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.118"/>
+          <arg name="frame_id" value="rear_left/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="rear_right"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.119"/>
+          <arg name="frame_id" value="rear_right/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>
+    </group>
+
+    <!-- merge radar objects -->
+    <let name="merger_param_path" value="$(find-pkg-share aip_xx1_gen2_launch)/config/radar_simple_object_merger.param.yaml"/>
+    <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
+      <remap from="~/output/objects" to="detected_objects"/>
+      <param from="$(var merger_param_path)"/>
+    </node>
+  </group>
+
+</launch>
diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml
new file mode 100644
index 00000000..74f24c15
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/sensing.launch.xml
@@ -0,0 +1,47 @@
+<launch>
+
+  <arg name="launch_driver" default="true" description="do launch driver"/>
+  <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
+  <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_fusion, lidar, camera"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+
+  <group>
+
+    <!-- LiDAR Driver -->
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/lidar.launch.py">
+      <arg name="launch_driver" value="$(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="$(find-pkg-share aip_xx1_gen2_launch)/launch/camera.launch.xml">
+      <arg name="launch_driver" value="$(var launch_driver)" />
+    </include> -->
+
+    <!-- IMU Driver -->
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/imu.launch.xml">
+      <arg name="launch_driver" value="$(var launch_driver)" />
+    </include>
+
+    <!-- GNSS Driver -->
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/gnss.launch.xml">
+      <arg name="launch_driver" value="$(var launch_driver)" />
+    </include>
+
+    <!-- Radar Driver -->
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/radar.launch.xml">
+      <arg name="launch_driver" value="$(var launch_driver)" />
+    </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" />
+    </include>
+
+  </group>
+
+</launch>
diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
new file mode 100644
index 00000000..8f2f9df9
--- /dev/null
+++ b/aip_xx1_gen2_launch/package.xml
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>aip_xx1_gen2_launch</name>
+  <version>0.1.0</version>
+  <description>The aip_xx1_gen2_launch package</description>
+
+  <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>common_sensor_launch</exec_depend>
+  <exec_depend>glog_component</exec_depend>
+  <exec_depend>gnss_poser</exec_depend>
+  <exec_depend>imu_corrector</exec_depend>
+  <exec_depend>pacmod3</exec_depend>
+  <exec_depend>pointcloud_preprocessor</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>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
new file mode 100644
index 00000000..7d4713fd
--- /dev/null
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -0,0 +1,41 @@
+<launch>
+
+  <!-- Params -->
+  <arg name="launch_driver" default="true"/>
+
+  <arg name="model" default="Pandar128E4X"/>
+  <arg name="sensor_frame" default="pandar"/>
+  <arg name="return_mode" default="Strongest"/>
+  <arg name="sensor_ip" default="192.168.1.201"/>
+  <arg name="host_ip" default="255.255.255.255"/>
+  <arg name="data_port" default="2368"/>
+  <arg name="scan_phase" default="0.0"/>
+  <arg name="cloud_min_angle" default="0"/>
+  <arg name="cloud_max_angle" default="360"/>
+  <arg name="dual_return_distance_threshold" default="0.1"/>
+  <arg name="vehicle_mirror_param_file"/>
+  <arg name="container_name" default="hesai_node_container"/>
+
+  <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
+    <arg name="launch_driver" value="$(var launch_driver)"/>
+    <arg name="sensor_model" value="$(var model)"/>
+    <arg name="return_mode" value="$(var return_mode)"/>
+    <arg name="frame_id" value="$(var sensor_frame)"/>
+    <arg name="sensor_ip" value="$(var sensor_ip)"/>
+    <arg name="host_ip" value="$(var host_ip)"/>
+    <arg name="data_port" value="$(var data_port)"/>
+    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+    <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+    <arg name="use_intra_process" value="true"/>
+    <arg name="use_multithread" value="true"/>
+    <arg name="container_name" value="$(var container_name)"/>
+    <arg name="ptp_profile" value="802.1as"/>
+    <arg name="ptp_transport_type" value="L2"/>
+    <arg name="ptp_switch_type" value="NON_TSN"/>
+    <arg name="ptp_domain" value="1"/>
+    <arg name="setup_sensor" value="false"/>
+  </include>
+</launch>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index 56587f72..c6ea9b64 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -25,12 +25,18 @@
     <arg name="host_ip" value="$(var host_ip)"/>
     <arg name="data_port" value="$(var data_port)"/>
     <arg name="scan_phase" value="$(var scan_phase)"/>
-    <arg name="cloud_min_angle" value="0"/>
-    <arg name="cloud_max_angle" value="360"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+    <arg name="max_range" value="$(var max_range)"/>
     <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
+    <arg name="ptp_profile" value="1588v2"/>
+    <arg name="ptp_switch_type" value="TSN"/>
+    <arg name="ptp_transport_type" value="UDP"/>
+    <arg name="setup_sensor" value="true"/>
+    <arg name="retry_hw" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index c3339e0c..1990f695 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -113,6 +113,8 @@ def create_parameter_dict(*args):
                         "cloud_min_angle",
                         "cloud_max_angle",
                         "dual_return_distance_threshold",
+                        "setup_sensor",
+                        "retry_hw",
                     ),
                 },
             ],
@@ -124,6 +126,36 @@ def create_parameter_dict(*args):
         )
     )
 
+    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
 
@@ -240,6 +272,11 @@ def create_parameter_dict(*args):
                     "packet_mtu_size",
                     "dual_return_distance_threshold",
                     "setup_sensor",
+                    "ptp_profile",
+                    "ptp_transport_type",
+                    "ptp_switch_type",
+                    "ptp_domain",
+                    "retry_hw",
                 ),
             }
         ],
@@ -297,6 +334,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("config_file", "", description="sensor configuration file")
     add_launch_arg("launch_driver", "True", "do launch driver")
     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")
     add_launch_arg("host_ip", "255.255.255.255", "host ip address")
     add_launch_arg("scan_phase", "0.0")
@@ -319,6 +357,13 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
     add_launch_arg("container_name", "nebula_node_container")
+    add_launch_arg("ptp_profile", "1588v2")
+    add_launch_arg("ptp_transport_type", "L2")
+    add_launch_arg("ptp_switch_type", "TSN")
+    add_launch_arg("ptp_domain", "0")
+    add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
+    add_launch_arg("diag_span", "1000", "")
+    add_launch_arg("delay_monitor_ms", "2000", "")
     add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
 
     add_launch_arg("enable_blockage_diag", "true")