diff --git a/aip_x2_launch/config/dual_return_filter.param.yaml b/aip_x2_launch/config/dual_return_filter.param.yaml
index 5b1f1adb..3c89faa2 100644
--- a/aip_x2_launch/config/dual_return_filter.param.yaml
+++ b/aip_x2_launch/config/dual_return_filter.param.yaml
@@ -2,9 +2,11 @@
   ros__parameters:
     roi_mode: "Fixed_azimuth_ROI" # description="options: `No_ROI`, `Fixed_xyz_ROI` or `Fixed_azimuth_ROI`"/>
     weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
-    visibility_error_threshold: 0.5
-    visibility_warn_threshold: 0.9
-    max_distance: 5.0
+    visibility_error_threshold: 0.95
+    visibility_warn_threshold: 0.97
+    min_azimuth_deg: 100.0
+    max_azimuth_deg: 260.0
+    max_distance: 10.0
     x_max: 18.0
     x_min: -12.0
     y_max: 2.0
diff --git a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
index 02ec3b1a..cff78a81 100644
--- a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
+++ b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -13,17 +13,84 @@
   ros__parameters:
     required_diags:
       # gnss
-      gnss: default
+      ## /sensing/gnss/001-connection
+      "topic_state_monitor_gnss_pose: gnss_topic_status": default
+
+      ## /sensing/gnss/002-quality
+      "septentrio_driver: Quality indicators": default
+
+      # imu
+      ## /sensing/imu/001-monitor
+      "imu_monitor: yaw_rate_status": default
+
+      ## /sensing/imu/002-connection
+      "topic_state_monitor_imu_data: imu_topic_status": default
+
+      ## /sensing/imu/003-gyro_bias
+      "gyro_bias_estimator: gyro_bias_validator": default
 
       # lidar
-      pandar_connection: default
-      pandar_temperature: default
-      pandar_ptp: default
-      "left_upper: visibility_validation": default
-      blockage_validation: default
-      concat_status: default
+      ## /sensing/lidar/pndr/001-connection
+      "pandar_monitor: /sensing/lidar/front_lower: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/front_upper: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/left_lower: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/left_upper: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/right_lower: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/right_upper: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/rear_lower: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/rear_upper: pandar_connection": default
 
-      sensing_topic_status: default
+      ## /sensing/lidar/pndr/002-temperature
+      "pandar_monitor: /sensing/lidar/front_lower: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/front_upper: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/left_lower: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/left_upper: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/right_lower: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/right_upper: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/rear_lower: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/rear_upper: pandar_temperature": default
 
-      # imu
-      gyro_bias_estimator: default
+      ## /sensing/lidar/pndr/003-ptp
+      "pandar_monitor: /sensing/lidar/front_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/front_upper: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/left_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/left_upper: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/right_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/right_upper: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp": default
+
+      ## /sensing/camera/001-connection
+      "v4l2_camera_camera0: capture_status": default
+      "v4l2_camera_camera1: capture_status": default
+      "v4l2_camera_camera2: capture_status": default
+      "v4l2_camera_camera3: capture_status": default
+      "v4l2_camera_camera4: capture_status": default
+      "v4l2_camera_camera5: capture_status": default
+      "v4l2_camera_camera6: capture_status": default
+      "v4l2_camera_camera7: capture_status": default
+
+      ## /sensing/radar/001-connection
+      "topic_state_monitor_radar_front_center: radar_front_center_topic_status": default
+      "topic_state_monitor_radar_front_left: radar_front_left_topic_status": default
+      "topic_state_monitor_radar_front_right: radar_front_right_topic_status": default
+      "topic_state_monitor_radar_rear_center: radar_rear_center_topic_status": default
+      "topic_state_monitor_radar_rear_left: radar_rear_left_topic_status": default
+      "topic_state_monitor_radar_rear_right: radar_rear_right_topic_status": default
+
+      ## /others/002-blockage_validation
+      "blockage_return_diag: /sensing/lidar/front_lower: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/front_upper: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/left_lower: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/left_upper: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/right_lower: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/right_upper: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/rear_lower: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/rear_upper: blockage_validation": default
+
+      ## /others/004-concat_status
+      "concatenate_data: concat_status": default
+
+      ## /others/005-visibility_validation/front_lower
+      "dual_return_filter: /sensing/lidar/front_lower: visibility_validation": default
+      "dual_return_filter: /sensing/lidar/left_upper: visibility_validation": default
diff --git a/aip_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml
index e3f1a056..a71854ea 100644
--- a/aip_x2_launch/launch/imu.launch.xml
+++ b/aip_x2_launch/launch/imu.launch.xml
@@ -36,6 +36,10 @@
       <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>
+
+    <include file="$(find-pkg-share imu_monitor)/launch/imu_monitor.launch.xml">
+      <arg name="config_file" value="$(find-pkg-share imu_monitor)/config/imu_monitor.param.yaml"/>
+    </include>
   </group>
 
 </launch>
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 9ccf52af..dfb9482a 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -21,9 +21,10 @@
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
-        <arg name="return_mode" value="Strongest" />
+        <arg name="return_mode" value="Dual" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
@@ -45,7 +46,8 @@
         <arg name="gps_port" value="10131" />
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
-        <arg name="distance_range" value="[0.1, 7.5]"/>
+        <arg name="distance_range" value="[0.1, 20.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
@@ -70,6 +72,7 @@
         <arg name="scan_phase" value="305.0" />
         <arg name="angle_range" value="[90.0, 305.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 305.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="225.0"/>
@@ -95,9 +98,10 @@
         <arg name="gps_port" value="10132" />
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
-        <arg name="distance_range" value="[0.1, 7.5]"/>
+        <arg name="distance_range" value="[0.1, 20.0]"/>
+        <arg name="blockage_range" value="[120.0, 240.0]"/>
         <arg name="vertical_bins" value ="64" />
-        <arg name="horizontal_ring_id" value="54" />
+        <arg name="horizontal_ring_id" value="24" />
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
@@ -120,6 +124,7 @@
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[55.0, 270.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[55.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="45.0"/>
@@ -127,7 +132,7 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-        <arg name="return_mode" value="Dual" />
+        <arg name="return_mode" value="Strongest" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -145,9 +150,10 @@
         <arg name="gps_port" value="10133" />
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
-        <arg name="distance_range" value="[0.1, 7.5]"/>
+        <arg name="distance_range" value="[0.1, 20.0]"/>
+        <arg name="blockage_range" value="[150.0, 240.0]"/>
         <arg name="vertical_bins" value ="64" />
-        <arg name="horizontal_ring_id" value="54" />
+        <arg name="horizontal_ring_id" value="24" />
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
@@ -170,6 +176,7 @@
         <arg name="scan_phase" value="180.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="135.0"/>
@@ -195,7 +202,8 @@
         <arg name="gps_port" value="10134" />
         <arg name="scan_phase" value="180.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
-        <arg name="distance_range" value="[0.1, 7.5]"/>
+        <arg name="distance_range" value="[0.1, 20.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="is_channel_order_top2down" value="false"/>
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index b950761e..e32719be 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -255,7 +255,7 @@ def create_parameter_dict(*args):
         ],
         parameters=[
             {
-                "angle_range": LaunchConfiguration("angle_range"),
+                "angle_range": LaunchConfiguration("blockage_range"),
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
                 "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
@@ -348,6 +348,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_intra_process", "true")
     add_launch_arg("vertical_bins", "40")
     add_launch_arg("horizontal_ring_id", "12")
+    add_launch_arg("blockage_range", "[270.0, 90.0]")
 
     add_launch_arg("min_azimuth_deg", "135.0")
     add_launch_arg("max_azimuth_deg", "225.0")
diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml
index 274f6334..2a527f54 100644
--- a/aip_x2_launch/launch/sensing.launch.xml
+++ b/aip_x2_launch/launch/sensing.launch.xml
@@ -35,6 +35,10 @@
       <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_x2/vehicle_velocity_converter.param.yaml" />
     </include>
+
+    <!-- Topic state monitor for each sensor -->
+    <include file="$(find-pkg-share aip_x2_launch)/launch/topic_state_monitor.launch.py"/>
+
   </group>
 
 </launch>
diff --git a/aip_x2_launch/launch/topic_state_monitor.launch.py b/aip_x2_launch/launch/topic_state_monitor.launch.py
new file mode 100644
index 00000000..0eafa9e0
--- /dev/null
+++ b/aip_x2_launch/launch/topic_state_monitor.launch.py
@@ -0,0 +1,195 @@
+# 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 launch import LaunchDescription
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+    # GNSS topic monitor
+    gnss_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_gnss_pose",
+        parameters=[
+            {
+                "topic": "/sensing/gnss/pose",
+                "topic_type": "geometry_msgs/msg/PoseStamped",
+                "best_effort": True,
+                "diag_name": "gnss_topic_status",
+                "warn_rate": 2.5,
+                "error_rate": 0.5,
+                "timeout": 5.0,
+                "window_size": 10,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    # IMU topic monitor
+    imu_topic_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_imu_data",
+        parameters=[
+            {
+                "topic": "/sensing/imu/imu_data",
+                "topic_type": "sensor_msgs/msg/Imu",
+                "best_effort": True,
+                "diag_name": "imu_topic_status",
+                "warn_rate": 5.0,
+                "error_rate": 1.0,
+                "timeout": 5.0,
+                "window_size": 10,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    # Radar topic monitors
+    radar_front_center_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_front_center",
+        parameters=[
+            {
+                "topic": "/sensing/radar/front_center/objects_raw",
+                "topic_type": "radar_msgs/msg/RadarTracks",
+                "best_effort": True,
+                "diag_name": "radar_front_center_topic_status",
+                "warn_rate": 5.0,
+                "error_rate": 1.0,
+                "timeout": 5.0,
+                "window_size": 10,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    radar_front_left_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_front_left",
+        parameters=[
+            {
+                "topic": "/sensing/radar/front_left/objects_raw",
+                "topic_type": "radar_msgs/msg/RadarTracks",
+                "best_effort": True,
+                "diag_name": "radar_front_left_topic_status",
+                "warn_rate": 5.0,
+                "error_rate": 1.0,
+                "timeout": 5.0,
+                "window_size": 10,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    radar_front_right_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_front_right",
+        parameters=[
+            {
+                "topic": "/sensing/radar/front_right/objects_raw",
+                "topic_type": "radar_msgs/msg/RadarTracks",
+                "best_effort": True,
+                "diag_name": "radar_front_right_topic_status",
+                "warn_rate": 5.0,
+                "error_rate": 1.0,
+                "timeout": 5.0,
+                "window_size": 10,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    radar_rear_center_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_rear_center",
+        parameters=[
+            {
+                "topic": "/sensing/radar/rear_center/objects_raw",
+                "topic_type": "radar_msgs/msg/RadarTracks",
+                "best_effort": True,
+                "diag_name": "radar_rear_center_topic_status",
+                "warn_rate": 5.0,
+                "error_rate": 1.0,
+                "timeout": 5.0,
+                "window_size": 10,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    radar_rear_left_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_rear_left",
+        parameters=[
+            {
+                "topic": "/sensing/radar/rear_left/objects_raw",
+                "topic_type": "radar_msgs/msg/RadarTracks",
+                "best_effort": True,
+                "diag_name": "radar_rear_left_topic_status",
+                "warn_rate": 5.0,
+                "error_rate": 1.0,
+                "timeout": 5.0,
+                "window_size": 10,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    radar_rear_right_monitor = ComposableNode(
+        package="topic_state_monitor",
+        plugin="topic_state_monitor::TopicStateMonitorNode",
+        name="topic_state_monitor_radar_rear_right",
+        parameters=[
+            {
+                "topic": "/sensing/radar/rear_right/objects_raw",
+                "topic_type": "radar_msgs/msg/RadarTracks",
+                "best_effort": True,
+                "diag_name": "radar_rear_right_topic_status",
+                "warn_rate": 5.0,
+                "error_rate": 1.0,
+                "timeout": 5.0,
+                "window_size": 10,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": True}],
+    )
+
+    # ComposableNodeContainer to run all ComposableNodes
+    container = ComposableNodeContainer(
+        name="topic_state_monitor_container",
+        namespace="topic_state_monitor",
+        package="rclcpp_components",
+        executable="component_container",
+        composable_node_descriptions=[
+            gnss_topic_monitor,
+            imu_topic_monitor,
+            radar_front_center_monitor,
+            radar_front_left_monitor,
+            radar_front_right_monitor,
+            radar_rear_center_monitor,
+            radar_rear_left_monitor,
+            radar_rear_right_monitor,
+        ],
+        output="screen",
+    )
+
+    return LaunchDescription([container])