diff --git a/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml b/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml
index 5b8c019de5a20..54b4f691b6eb1 100644
--- a/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml
+++ b/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml
@@ -1,3 +1,4 @@
 /**:
   ros__parameters:
     update_rate: 10.0
+    add_duplicated_node_names_to_msg: false # if true, duplicated node names are added to msg
diff --git a/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp b/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp
index ec086058e9041..9d806754f3c20 100644
--- a/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp
+++ b/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp
@@ -48,6 +48,7 @@ class DuplicatedNodeChecker : public rclcpp::Node
 
   diagnostic_updater::Updater updater_{this};
   rclcpp::TimerBase::SharedPtr timer_;
+  bool add_duplicated_node_names_to_msg_;
 };
 }  // namespace duplicated_node_checker
 
diff --git a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
index c9aa483724532..46c02d9d6e133 100644
--- a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
+++ b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
@@ -28,6 +28,7 @@ DuplicatedNodeChecker::DuplicatedNodeChecker(const rclcpp::NodeOptions & node_op
 : Node("duplicated_node_checker", node_options)
 {
   double update_rate = declare_parameter<double>("update_rate");
+  add_duplicated_node_names_to_msg_ = declare_parameter<bool>("add_duplicated_node_names_to_msg");
   updater_.setHardwareID("duplicated_node_checker");
   updater_.add("duplicated_node_checker", this, &DuplicatedNodeChecker::produceDiagnostics);
 
@@ -63,8 +64,14 @@ void DuplicatedNodeChecker::produceDiagnostics(diagnostic_updater::DiagnosticSta
   std::string msg;
   int level;
   if (identical_names.size() > 0) {
-    msg = "Error";
     level = DiagnosticStatus::ERROR;
+    msg = "Error: Duplicated nodes detected";
+    if (add_duplicated_node_names_to_msg_) {
+      std::set<std::string> unique_identical_names(identical_names.begin(), identical_names.end());
+      for (const auto & name : unique_identical_names) {
+        msg += " " + name;
+      }
+    }
     for (auto name : identical_names) {
       stat.add("Duplicated Node Name", name);
     }
diff --git a/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml b/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml
index c396e2e9f5ed8..9784259490ec2 100644
--- a/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml
+++ b/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml
@@ -40,6 +40,7 @@
         /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
         /autoware/system/duplicated_node_checker: default
         # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
+        # /autoware/system/duplicated_node_checker: default
 
         /autoware/vehicle/node_alive_monitoring: default