diff --git a/aip_x2_gen2_launch/launch/sensing.launch.xml b/aip_x2_gen2_launch/launch/sensing.launch.xml
index 68f655b5..ec9adc0e 100644
--- a/aip_x2_gen2_launch/launch/sensing.launch.xml
+++ b/aip_x2_gen2_launch/launch/sensing.launch.xml
@@ -2,7 +2,7 @@
 
   <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="pointcloud_container_name" default="pointcloud_containerE"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
   <group>
@@ -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_gen2/vehicle_velocity_converter.param.yaml" />
     </include>
+
+    <!-- Topic state monitor for each sensor -->
+    <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/topic_state_monitor.launch.py"/>
+
   </group>
 
 </launch>