diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml
new file mode 100644
index 0000000000..72b4c30aa0
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml
@@ -0,0 +1,47 @@
+files:
+  - { path: $(dirname)/map.yaml }
+  - { path: $(dirname)/planning.yaml }
+  - { path: $(dirname)/control.yaml }
+
+# Exclude paths that does not need on planning simulator
+edits:
+  - path: /map/001-topic_status/pointcloud_map-error
+    type: remove
+  - path: /map/001-topic_status/pointcloud_map
+    type: remove
+
+nodes:
+  - path: /autoware/modes/local
+    type: stale
+
+  - path: /autoware/modes/remote
+    type: stale
+
+  # Stop is always available
+  - path: /autoware/modes/stop
+    type: ok
+
+  - path: /autoware/modes/autonomous
+    type: and
+    list:
+      - { type: link, link: /map/autonomous_available }
+      - { type: link, link: /planning/autonomous_available }
+      - { type: link, link: /control/autonomous_available }
+
+  - path: /autoware/modes/pull_over
+    type: and
+    list:
+      - { type: link, link: /map/pull_over_available }
+      - { type: link, link: /planning/pull_over_available }
+      - { type: link, link: /control/pull_over_available }
+
+  - path: /autoware/modes/comfortable_stop
+    type: and
+    list:
+      - { type: link, link: /map/comfortable_stop_available }
+      - { type: link, link: /planning/comfortable_stop_available }
+      - { type: link, link: /control/comfortable_stop_available }
+
+  # Emergency stop is always available
+  - path: /autoware/modes/emergency_stop
+    type: ok
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml
new file mode 100644
index 0000000000..ee16bc9819
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml
@@ -0,0 +1,68 @@
+files:
+  - { path: $(dirname)/hardware.yaml }
+  - { path: $(dirname)/sensing.yaml }
+  - { path: $(dirname)/map.yaml }
+  - { path: $(dirname)/localization.yaml }
+  - { path: $(dirname)/planning.yaml }
+  - { path: $(dirname)/perception.yaml }
+  - { path: $(dirname)/control.yaml }
+  - { path: $(dirname)/vehicle.yaml }
+  - { path: $(dirname)/system.yaml }
+  - { path: $(dirname)/others.yaml }
+
+nodes:
+  - path: /autoware/modes/local
+    type: stale
+
+  - path: /autoware/modes/remote
+    type: stale
+
+  # Stop is always available
+  - path: /autoware/modes/stop
+    type: ok
+
+  - path: /autoware/modes/autonomous
+    type: and
+    list:
+      - { type: link, link: /hardware/autonomous_available }
+      - { type: link, link: /sensing/autonomous_available }
+      - { type: link, link: /map/autonomous_available }
+      - { type: link, link: /localization/autonomous_available }
+      - { type: link, link: /planning/autonomous_available }
+      - { type: link, link: /perception/autonomous_available }
+      - { type: link, link: /control/autonomous_available }
+      - { type: link, link: /vehicle/autonomous_available }
+      - { type: link, link: /system/autonomous_available }
+      - { type: link, link: /others/autonomous_available }
+
+  - path: /autoware/modes/pull_over
+    type: and
+    list:
+      - { type: link, link: /hardware/pull_over_available }
+      - { type: link, link: /sensing/pull_over_available }
+      - { type: link, link: /map/pull_over_available }
+      - { type: link, link: /localization/pull_over_available }
+      - { type: link, link: /planning/pull_over_available }
+      - { type: link, link: /perception/pull_over_available }
+      - { type: link, link: /control/pull_over_available }
+      - { type: link, link: /vehicle/pull_over_available }
+      - { type: link, link: /system/pull_over_available }
+      - { type: link, link: /others/pull_over_available }
+
+  - path: /autoware/modes/comfortable_stop
+    type: and
+    list:
+      - { type: link, link: /hardware/comfortable_stop_available }
+      - { type: link, link: /sensing/comfortable_stop_available }
+      - { type: link, link: /map/comfortable_stop_available }
+      - { type: link, link: /localization/comfortable_stop_available }
+      - { type: link, link: /planning/comfortable_stop_available }
+      - { type: link, link: /perception/comfortable_stop_available }
+      - { type: link, link: /control/comfortable_stop_available }
+      - { type: link, link: /vehicle/comfortable_stop_available }
+      - { type: link, link: /system/comfortable_stop_available }
+      - { type: link, link: /others/comfortable_stop_available }
+
+  # Emergency stop is always available
+  - path: /autoware/modes/emergency_stop
+    type: ok
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml
new file mode 100644
index 0000000000..1df804359b
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml
@@ -0,0 +1,96 @@
+nodes:
+  - path: /control/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /control/emergency_stop }
+      - { type: link, link: /control/pull_over }
+      - { type: link, link: /control/comfortable_stop }
+
+  - path: /control/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /control/emergency_stop }
+      - { type: link, link: /control/comfortable_stop }
+
+  - path: /control/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /control/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /control/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /control/001-topic_status/control_command-error }
+      - { type: link, link: /control/004-lane_departure-error }
+      - { type: link, link: /control/005-trajectory_deviation-error }
+      - { type: link, link: /control/010-max_distance_deviation-error }
+
+  - path: /control/comfortable_stop
+    type: and
+
+  - path: /control/pull_over
+    type: and
+
+  - path: /control/none
+    type: and
+    list:
+      - { type: link, link: /control/003-gate_heartbeat }
+      - { type: link, link: /control/007-external_command_converter_heartbeat }
+      - { type: link, link: /control/008-external_command_selector_heartbeat }
+
+  # Intermediate paths
+  - path: /control/001-topic_status/control_command-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /control/001-topic_status/control_command }
+
+  - path: /control/004-lane_departure-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /control/004-lane_departure }
+
+  - path: /control/005-trajectory_deviation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /control/005-trajectory_deviation }
+
+  - path: /control/010-max_distance_deviation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /control/010-max_distance_deviation }
+
+  # Diagnostics paths
+  - path: /control/001-topic_status/control_command
+    diag: "topic_state_monitor_control_command_control_cmd: control_topic_status"
+    type: diag
+
+  - path: /control/003-gate_heartbeat
+    diag: "vehicle_cmd_gate: heartbeat"
+    type: diag
+
+  - path: /control/004-lane_departure
+    diag: "lane_departure_checker_node: lane_departure"
+    type: diag
+
+  - path: /control/005-trajectory_deviation
+    diag: "lane_departure_checker_node: trajectory_deviation"
+    type: diag
+
+  - path: /control/007-external_command_converter_heartbeat
+    diag: "external_cmd_converter: remote_control_topic_status"
+    type: diag
+
+  - path: /control/008-external_command_selector_heartbeat
+    diag: "external_cmd_selector: heartbeat"
+    type: diag
+
+  - path: /control/010-max_distance_deviation
+    diag: "control_validator: control_validation_max_distance_deviation"
+    type: diag
+
+  # - path: /control/011-slip_detection
+  #   diag: "slip_detection: "
+  #   type: diag
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml
new file mode 100644
index 0000000000..c228442c64
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml
@@ -0,0 +1,297 @@
+nodes:
+  - path: /hardware/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /hardware/emergency_stop }
+      - { type: link, link: /hardware/pull_over }
+      - { type: link, link: /hardware/comfortable_stop }
+
+  - path: /hardware/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /hardware/emergency_stop }
+      - { type: link, link: /hardware/comfortable_stop }
+
+  - path: /hardware/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /hardware/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /hardware/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /hardware/cpu/002-usage-error }
+      - { type: link, link: /hardware/cpu/004-throttling-error }
+      - { type: link, link: /hardware/hdd/001-temperature-error }
+      - { type: link, link: /hardware/hdd/003-connection-error }
+      - { type: link, link: /hardware/hdd/006-soft_error-error }
+      - { type: link, link: /hardware/hdd/007-load-error }
+      - { type: link, link: /hardware/memory/001-usage-error }
+      - { type: link, link: /hardware/memory/002-ecc-error }
+      - { type: link, link: /hardware/network/003-crc-error }
+      - { type: link, link: /hardware/network/004-packet_reassembles-error }
+      - { type: link, link: /hardware/gpu/001-temperature-error }
+      - { type: link, link: /hardware/gpu/002-usage-error }
+      - { type: link, link: /hardware/gpu/003-memory-error }
+      - { type: link, link: /hardware/gpu/004-throttling-error }
+      - { type: link, link: /hardware/gpu/005-frequency-error }
+
+  - path: /hardware/pull_over
+    type: and
+    list:
+      - { type: link, link: /hardware/hdd/002-usage-error }
+
+  - path: /hardware/comfortable_stop
+    type: and
+
+  - path: /hardware/none
+    type: and
+    list:
+      - { type: link, link: /hardware/cpu/001-temperature }
+      - { type: link, link: /hardware/cpu/003-load_average }
+      - { type: link, link: /hardware/cpu/005-frequency }
+      - { type: link, link: /hardware/hdd/004-total_written }
+      - { type: link, link: /hardware/hdd/005-warranty_period }
+      - { type: link, link: /hardware/network/001-usage }
+      - { type: link, link: /hardware/network/002-traffic }
+      - { type: link, link: /hardware/ntp/001-sync }
+      - { type: link, link: /hardware/process/001-summary }
+      - { type: link, link: /hardware/process/002-load }
+      - { type: link, link: /hardware/process/003-memory }
+      - { type: link, link: /hardware/bios/001-battery }
+
+  # Intermediate paths
+  - path: /hardware/cpu/002-usage-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/cpu/002-usage }
+
+  - path: /hardware/cpu/004-throttling-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/cpu/004-throttling }
+
+  - path: /hardware/hdd/001-temperature-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/hdd/001-temperature }
+
+  - path: /hardware/hdd/002-usage-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/hdd/002-usage }
+
+  - path: /hardware/hdd/003-connection-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/hdd/003-connection }
+
+  - path: /hardware/hdd/006-soft_error-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/hdd/006-soft_error }
+
+  - path: /hardware/hdd/007-load-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/hdd/007-load }
+
+  - path: /hardware/memory/001-usage-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/memory/001-usage }
+
+  - path: /hardware/memory/002-ecc-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/memory/002-ecc }
+
+  - path: /hardware/network/003-crc-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/network/003-crc }
+
+  - path: /hardware/gpu/001-temperature-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/gpu/001-temperature }
+
+  - path: /hardware/gpu/002-usage-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/gpu/002-usage }
+
+  - path: /hardware/gpu/003-memory-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/gpu/003-memory }
+
+  - path: /hardware/gpu/004-throttling-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/gpu/004-throttling }
+
+  - path: /hardware/gpu/005-frequency-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/gpu/005-frequency }
+
+  - path: /hardware/network/004-packet_reassembles-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /hardware/network/004-packet_reassembles }
+
+  - path: /hardware/hdd/007-load
+    type: and
+    list:
+      - { type: link, link: /hardware/hdd/007-load/read_rate }
+      - { type: link, link: /hardware/hdd/007-load/read_iops }
+      - { type: link, link: /hardware/hdd/007-load/write_rate }
+      - { type: link, link: /hardware/hdd/007-load/write_iops }
+
+  - path: /hardware/process/002-load
+    type: and
+    list:
+      - { type: link, link: /hardware/process/002-load/proc-0 }
+      - { type: link, link: /hardware/process/002-load/proc-1 }
+      - { type: link, link: /hardware/process/002-load/proc-2 }
+      - { type: link, link: /hardware/process/002-load/proc-3 }
+      - { type: link, link: /hardware/process/002-load/proc-4 }
+
+  - path: /hardware/process/003-memory
+    type: and
+    list:
+      - { type: link, link: /hardware/process/003-memory/proc-0 }
+      - { type: link, link: /hardware/process/003-memory/proc-1 }
+      - { type: link, link: /hardware/process/003-memory/proc-2 }
+      - { type: link, link: /hardware/process/003-memory/proc-3 }
+      - { type: link, link: /hardware/process/003-memory/proc-4 }
+
+  # Diagnostics paths
+  - path: /hardware/cpu/001-temperature
+    diag: "cpu_monitor: CPU Temperature"
+    type: diag
+  - path: /hardware/cpu/002-usage
+    diag: "cpu_monitor: CPU Usage"
+    type: diag
+  - path: /hardware/cpu/003-load_average
+    diag: "cpu_monitor: CPU Load Average"
+    type: diag
+  - path: /hardware/cpu/004-throttling
+    diag: "cpu_monitor: CPU Thermal Throttling"
+    type: diag
+  - path: /hardware/cpu/005-frequency
+    diag: "cpu_monitor: CPU Frequency"
+    type: diag
+
+  - path: /hardware/hdd/001-temperature
+    diag: "hdd_monitor: HDD Temperature"
+    type: diag
+  - path: /hardware/hdd/002-usage
+    diag: "hdd_monitor: HDD Usage"
+    type: diag
+  - path: /hardware/hdd/003-connection
+    diag: "hdd_monitor: HDD Connection"
+    type: diag
+  - path: /hardware/hdd/004-total_written
+    diag: "hdd_monitor: HDD TotalDataWritten"
+    type: diag
+  - path: /hardware/hdd/005-warranty_period
+    diag: "hdd_monitor: HDD PowerOnHours"
+    type: diag
+  - path: /hardware/hdd/006-soft_error
+    diag: "hdd_monitor: HDD RecoveredError"
+    type: diag
+  - path: /hardware/hdd/007-load/read_rate
+    diag: "hdd_monitor: HDD ReadDataRate"
+    type: diag
+  - path: /hardware/hdd/007-load/write_rate
+    diag: "hdd_monitor: HDD WriteDataRate"
+    type: diag
+  - path: /hardware/hdd/007-load/read_iops
+    diag: "hdd_monitor: HDD ReadIOPS"
+    type: diag
+  - path: /hardware/hdd/007-load/write_iops
+    diag: "hdd_monitor: HDD WriteIOPS"
+    type: diag
+
+  - path: /hardware/memory/001-usage
+    diag: "mem_monitor: Memory Usage"
+    type: diag
+  - path: /hardware/memory/002-ecc
+    diag: "mem_monitor: Memory ECC"
+    type: diag
+
+  - path: /hardware/network/001-usage
+    diag: "net_monitor: Network Usage"
+    type: diag
+  - path: /hardware/network/002-traffic
+    diag: "net_monitor: Network Traffic"
+    type: diag
+  - path: /hardware/network/003-crc
+    diag: "net_monitor: Network CRC Error"
+    type: diag
+  - path: /hardware/network/004-packet_reassembles
+    diag: "net_monitor: IP Packet Reassembles Failed"
+    type: diag
+
+  - path: /hardware/ntp/001-sync
+    diag: "ntp_monitor: NTP Offset"
+    type: diag
+
+  - path: /hardware/process/001-summary
+    diag: "process_monitor: Tasks Summary"
+    type: diag
+  - path: /hardware/process/002-load/proc-0
+    diag: "process_monitor: High-load Proc[0]"
+    type: diag
+  - path: /hardware/process/002-load/proc-1
+    diag: "process_monitor: High-load Proc[1]"
+    type: diag
+  - path: /hardware/process/002-load/proc-2
+    diag: "process_monitor: High-load Proc[2]"
+    type: diag
+  - path: /hardware/process/002-load/proc-3
+    diag: "process_monitor: High-load Proc[3]"
+    type: diag
+  - path: /hardware/process/002-load/proc-4
+    diag: "process_monitor: High-load Proc[4]"
+    type: diag
+  - path: /hardware/process/003-memory/proc-0
+    diag: "process_monitor: High-mem Proc[0]"
+    type: diag
+  - path: /hardware/process/003-memory/proc-1
+    diag: "process_monitor: High-mem Proc[1]"
+    type: diag
+  - path: /hardware/process/003-memory/proc-2
+    diag: "process_monitor: High-mem Proc[2]"
+    type: diag
+  - path: /hardware/process/003-memory/proc-3
+    diag: "process_monitor: High-mem Proc[3]"
+    type: diag
+  - path: /hardware/process/003-memory/proc-4
+    diag: "process_monitor: High-mem Proc[4]"
+    type: diag
+
+  - path: /hardware/gpu/001-temperature
+    diag: "gpu_monitor: GPU Temperature"
+    type: diag
+  - path: /hardware/gpu/002-usage
+    diag: "gpu_monitor: GPU Usage"
+    type: diag
+  - path: /hardware/gpu/003-memory
+    diag: "gpu_monitor: GPU Memory Usage"
+    type: diag
+  - path: /hardware/gpu/004-throttling
+    diag: "gpu_monitor: GPU Thermal Throttling"
+    type: diag
+  - path: /hardware/gpu/005-frequency
+    diag: "gpu_monitor: GPU Frequency"
+    type: diag
+
+  - path: /hardware/bios/001-battery
+    diag: "voltage_monitor: CMOS Battery Status"
+    type: diag
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml
new file mode 100644
index 0000000000..a0e263c256
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml
@@ -0,0 +1,96 @@
+nodes:
+  - path: /localization/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /localization/emergency_stop }
+      - { type: link, link: /localization/pull_over }
+      - { type: link, link: /localization/comfortable_stop }
+
+  - path: /localization/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /localization/emergency_stop }
+      - { type: link, link: /localization/comfortable_stop }
+
+  - path: /localization/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /localization/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /localization/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /localization/001-topic_status/initialpose-error }
+      - { type: link, link: /localization/001-topic_status/pose_twist_fusion_filter-error }
+      - { type: link, link: /localization/002-tf-error }
+      - { type: link, link: /localization/003-matching_score-error }
+      - { type: link, link: /localization/004-accuracy-error }
+      - { type: link, link: /localization/005-accuracy_lateral-error }
+
+  - path: /localization/comfortable_stop
+    type: and
+
+  - path: /localization/pull_over
+    type: and
+
+  - path: /localization/none
+    type: and
+
+  # Intermediate paths
+  - path: /localization/001-topic_status/initialpose-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /localization/001-topic_status/initialpose }
+
+  - path: /localization/001-topic_status/pose_twist_fusion_filter-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /localization/001-topic_status/pose_twist_fusion_filter }
+
+  - path: /localization/002-tf-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /localization/002-tf }
+
+  - path: /localization/003-matching_score-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /localization/003-matching_score }
+
+  - path: /localization/004-accuracy-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /localization/004-accuracy }
+
+  - path: /localization/005-accuracy_lateral-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /localization/005-accuracy_lateral }
+
+  # Diagnostics paths
+  - path: /localization/001-topic_status/initialpose
+    diag: "topic_state_monitor_initialpose3d: localization_topic_status"
+    type: diag
+
+  - path: /localization/001-topic_status/pose_twist_fusion_filter
+    diag: "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status"
+    type: diag
+
+  - path: /localization/002-tf
+    diag: "topic_state_monitor_transform_map_to_base_link: localization_topic_status"
+    type: diag
+
+  - path: /localization/003-matching_score
+    diag: ndt_scan_matcher
+    type: diag
+
+  - path: /localization/004-accuracy
+    diag: "localization_error_monitor: localization_accuracy"
+    type: diag
+
+  - path: /localization/005-accuracy_lateral
+    diag: "localization_error_monitor: localization_accuracy_lateral_direction"
+    type: diag
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml
new file mode 100644
index 0000000000..ad6479ef76
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml
@@ -0,0 +1,56 @@
+nodes:
+  - path: /map/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /map/emergency_stop }
+      - { type: link, link: /map/pull_over }
+      - { type: link, link: /map/comfortable_stop }
+
+  - path: /map/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /map/emergency_stop }
+      - { type: link, link: /map/comfortable_stop }
+
+  - path: /map/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /map/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /map/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /map/001-topic_status/vector_map-error }
+      - { type: link, link: /map/001-topic_status/pointcloud_map-error }
+
+  - path: /map/comfortable_stop
+    type: and
+
+  - path: /map/pull_over
+    type: and
+
+  - path: /map/none
+    type: and
+
+  # Intermediate paths
+  - path: /map/001-topic_status/vector_map-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /map/001-topic_status/vector_map }
+
+  - path: /map/001-topic_status/pointcloud_map-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /map/001-topic_status/pointcloud_map }
+
+  # Diagnostics paths
+  - path: /map/001-topic_status/vector_map
+    diag: "topic_state_monitor_vector_map: map_topic_status"
+    type: diag
+
+  - path: /map/001-topic_status/pointcloud_map
+    diag: "topic_state_monitor_pointcloud_map: map_topic_status"
+    type: diag
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/others.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/others.yaml
new file mode 100644
index 0000000000..8bab9f68b3
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/others.yaml
@@ -0,0 +1,118 @@
+nodes:
+  - path: /others/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /others/emergency_stop }
+      - { type: link, link: /others/pull_over }
+      - { type: link, link: /others/comfortable_stop }
+
+  - path: /others/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /others/emergency_stop }
+      - { type: link, link: /others/comfortable_stop }
+
+  - path: /others/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /others/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /others/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /others/002-blockage_validation-error }
+      - { type: link, link: /others/004-concat_status }
+      - { type: link, link: /others/005-visibility_validation-error }
+
+  - path: /others/comfortable_stop
+    type: and
+    list:
+      - { type: link, link: /others/010-emergency_vehicle-error }
+
+  - path: /others/pull_over
+    type: and
+
+  - path: /others/none
+    type: and
+
+  # Intermediate paths
+  - path: /others/002-blockage_validation
+    type: and
+    list:
+      - { type: link, link: /others/002-blockage_validation/front_lower }
+      - { type: link, link: /others/002-blockage_validation/front_upper }
+      - { type: link, link: /others/002-blockage_validation/left_lower }
+      - { type: link, link: /others/002-blockage_validation/left_upper }
+      - { type: link, link: /others/002-blockage_validation/right_lower }
+      - { type: link, link: /others/002-blockage_validation/right_upper }
+      - { type: link, link: /others/002-blockage_validation/rear_lower }
+      - { type: link, link: /others/002-blockage_validation/rear_upper }
+
+  - path: /others/005-visibility_validation
+    type: and
+    list:
+      - { type: link, link: /others/005-visibility_validation/left_upper }
+      - { type: link, link: /others/005-visibility_validation/right_upper }
+
+  - path: /others/002-blockage_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /others/002-blockage_validation }
+
+  - path: /others/005-visibility_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /others/005-visibility_validation }
+
+  - path: /others/010-emergency_vehicle-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /others/010-emergency_vehicle }
+
+  # Diagnostics paths
+  - path: /others/002-blockage_validation/front_lower
+    diag: "blockage_return_diag: /sensing/lidar/front_lower: blockage_validation"
+    type: diag
+  - path: /others/002-blockage_validation/front_upper
+    diag: "blockage_return_diag: /sensing/lidar/front_upper: blockage_validation"
+    type: diag
+  - path: /others/002-blockage_validation/left_lower
+    diag: "blockage_return_diag: /sensing/lidar/left_lower: blockage_validation"
+    type: diag
+  - path: /others/002-blockage_validation/left_upper
+    diag: "blockage_return_diag: /sensing/lidar/left_upper: blockage_validation"
+    type: diag
+  - path: /others/002-blockage_validation/right_lower
+    diag: "blockage_return_diag: /sensing/lidar/right_lower: blockage_validation"
+    type: diag
+  - path: /others/002-blockage_validation/right_upper
+    diag: "blockage_return_diag: /sensing/lidar/right_upper: blockage_validation"
+    type: diag
+  - path: /others/002-blockage_validation/rear_lower
+    diag: "blockage_return_diag: /sensing/lidar/rear_lower: blockage_validation"
+    type: diag
+  - path: /others/002-blockage_validation/rear_upper
+    diag: "blockage_return_diag: /sensing/lidar/rear_upper: blockage_validation"
+    type: diag
+
+  - path: /others/004-concat_status
+    diag: "concatenate_data: concat_status"
+    type: diag
+
+  - path: /others/005-visibility_validation/left_upper
+    diag: "dual_return_filter: /sensing/lidar/left_upper: visibility_validation"
+    type: diag
+  - path: /others/005-visibility_validation/right_upper
+    diag: "dual_return_filter: /sensing/lidar/right_upper: visibility_validation"
+    type: diag
+
+  - path: /others/010-emergency_vehicle
+    diag: "emergency_vehicle_detector: emergency_vehicle"
+    type: diag
+
+  - path: /others/011-daytime_monitor
+    diag: "daytime_monitor: daytime_status"
+    type: diag
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml
new file mode 100644
index 0000000000..e6b9ad5aa3
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml
@@ -0,0 +1,76 @@
+nodes:
+  - path: /perception/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /perception/emergency_stop }
+      - { type: link, link: /perception/pull_over }
+      - { type: link, link: /perception/comfortable_stop }
+
+  - path: /perception/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /perception/emergency_stop }
+      - { type: link, link: /perception/comfortable_stop }
+
+  - path: /perception/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /perception/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /perception/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /perception/001-topic_status/traffic_signals-error }
+      - { type: link, link: /perception/001-topic_status/objects-error }
+      - { type: link, link: /perception/001-topic_status/pointcloud-error }
+      - { type: link, link: /perception/002-detection_delay-error }
+
+  - path: /perception/comfortable_stop
+    type: and
+
+  - path: /perception/pull_over
+    type: and
+
+  - path: /perception/none
+    type: and
+
+  # Intermediate paths
+  - path: /perception/001-topic_status/traffic_signals-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /perception/001-topic_status/traffic_signals }
+
+  - path: /perception/001-topic_status/objects-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /perception/001-topic_status/objects }
+
+  - path: /perception/001-topic_status/pointcloud-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /perception/001-topic_status/pointcloud }
+
+  - path: /perception/002-detection_delay-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /perception/002-detection_delay }
+
+  # Diagnostics paths
+  - path: /perception/001-topic_status/traffic_signals
+    diag: "topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status"
+    type: diag
+
+  - path: /perception/001-topic_status/objects
+    diag: "topic_state_monitor_object_recognition_objects: perception_topic_status"
+    type: diag
+
+  - path: /perception/001-topic_status/pointcloud
+    diag: "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status"
+    type: diag
+
+  - path: /perception/002-detection_delay
+    diag: "multi_object_tracker: Perception delay check from original header stamp"
+    type: diag
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml
new file mode 100644
index 0000000000..e41e7d5c22
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml
@@ -0,0 +1,171 @@
+nodes:
+  - path: /planning/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /planning/emergency_stop }
+      - { type: link, link: /planning/pull_over }
+      - { type: link, link: /planning/comfortable_stop }
+
+  - path: /planning/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /planning/emergency_stop }
+      - { type: link, link: /planning/comfortable_stop }
+
+  - path: /planning/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /planning/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /planning/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /planning/001-topic_status/route-error }
+      - { type: link, link: /planning/001-topic_status/trajectory-error }
+      - { type: link, link: /planning/003-trajectory_finite_validation-error }
+      - { type: link, link: /planning/004-trajectory_interval_validation-error }
+      - { type: link, link: /planning/005-trajectory_curvature_validation-error }
+      - { type: link, link: /planning/006-trajectory_relative_angle_validation-error }
+      - { type: link, link: /planning/007-trajectory_lateral_acceleration_validation-error }
+      - { type: link, link: /planning/008-trajectory_acceleration_validation-error }
+      - { type: link, link: /planning/009-trajectory_deceleration_validation-error }
+      - { type: link, link: /planning/010-trajectory_steering_validation-error }
+      - { type: link, link: /planning/011-trajectory_steering_rate_validation-error }
+      - { type: link, link: /planning/012-trajectory_velocity_deviation_validation-error }
+      - { type: link, link: /planning/013-collision_checker-error }
+
+  - path: /planning/comfortable_stop
+    type: and
+
+  - path: /planning/pull_over
+    type: and
+
+  - path: /planning/none
+    type: and
+
+  # Intermediate paths
+  - path: /planning/001-topic_status/route-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/001-topic_status/route }
+
+  - path: /planning/001-topic_status/trajectory-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/001-topic_status/trajectory }
+
+  - path: /planning/003-trajectory_finite_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/003-trajectory_finite_validation }
+
+  - path: /planning/004-trajectory_interval_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/004-trajectory_interval_validation }
+
+  - path: /planning/005-trajectory_curvature_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/005-trajectory_curvature_validation }
+
+  - path: /planning/006-trajectory_relative_angle_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/006-trajectory_relative_angle_validation }
+
+  - path: /planning/007-trajectory_lateral_acceleration_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/007-trajectory_lateral_acceleration_validation }
+
+  - path: /planning/008-trajectory_acceleration_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/008-trajectory_acceleration_validation }
+
+  - path: /planning/009-trajectory_deceleration_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/009-trajectory_deceleration_validation }
+
+  - path: /planning/010-trajectory_steering_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/010-trajectory_steering_validation }
+
+  - path: /planning/011-trajectory_steering_rate_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/011-trajectory_steering_rate_validation }
+
+  - path: /planning/012-trajectory_velocity_deviation_validation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/012-trajectory_velocity_deviation_validation }
+
+  - path: /planning/013-collision_checker-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /planning/013-collision_checker }
+
+  # Diagnostics paths
+  - path: /planning/001-topic_status/route
+    diag: "topic_state_monitor_mission_planning_route: planning_topic_status"
+    type: diag
+
+  - path: /planning/001-topic_status/trajectory
+    diag: "topic_state_monitor_scenario_planning_trajectory: planning_topic_status"
+    type: diag
+
+  # Not implemented
+  # - path: /planning/002-trajectory_size_validation
+  #   diag: "planning_validator: trajectory_validation_size"
+  #   type: diag
+
+  - path: /planning/003-trajectory_finite_validation
+    diag: "planning_validator: trajectory_validation_finite"
+    type: diag
+
+  - path: /planning/004-trajectory_interval_validation
+    diag: "planning_validator: trajectory_validation_interval"
+    type: diag
+
+  - path: /planning/005-trajectory_curvature_validation
+    diag: "planning_validator: trajectory_validation_curvature"
+    type: diag
+
+  - path: /planning/006-trajectory_relative_angle_validation
+    diag: "planning_validator: trajectory_validation_relative_angle"
+    type: diag
+
+  - path: /planning/007-trajectory_lateral_acceleration_validation
+    diag: "planning_validator: trajectory_validation_lateral_acceleration"
+    type: diag
+
+  - path: /planning/008-trajectory_acceleration_validation
+    diag: "planning_validator: trajectory_validation_acceleration"
+    type: diag
+
+  - path: /planning/009-trajectory_deceleration_validation
+    diag: "planning_validator: trajectory_validation_deceleration"
+    type: diag
+
+  - path: /planning/010-trajectory_steering_validation
+    diag: "planning_validator: trajectory_validation_steering"
+    type: diag
+
+  - path: /planning/011-trajectory_steering_rate_validation
+    diag: "planning_validator: trajectory_validation_steering_rate"
+    type: diag
+
+  - path: /planning/012-trajectory_velocity_deviation_validation
+    diag: "planning_validator: trajectory_validation_velocity_deviation"
+    type: diag
+
+  - path: /planning/013-collision_checker
+    diag: "collision_checker: collision_check"
+    type: diag
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml
new file mode 100644
index 0000000000..e7b47368c4
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml
@@ -0,0 +1,263 @@
+nodes:
+  - path: /sensing/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /sensing/emergency_stop }
+      - { type: link, link: /sensing/pull_over }
+      - { type: link, link: /sensing/comfortable_stop }
+
+  - path: /sensing/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /sensing/emergency_stop }
+      - { type: link, link: /sensing/comfortable_stop }
+
+  - path: /sensing/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /sensing/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /sensing/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /sensing/imu/001-monitor-error }
+      - { type: link, link: /sensing/imu/002-connection }
+      - { type: link, link: /sensing/lidar/pndr/001-connection }
+      - { type: link, link: /sensing/lidar/pndr/002-temperature-error }
+      - { type: link, link: /sensing/lidar/pndr/003-ptp }
+      - { type: link, link: /sensing/camera/001-connection }
+      - { type: link, link: /sensing/radar/001-connection }
+
+  - path: /sensing/pull_over
+    type: and
+    list:
+      - { type: link, link: /sensing/lidar/pndr/002-temperature }
+      - { type: link, link: /sensing/gnss/001-connection-error }
+
+  - path: /sensing/comfortable_stop
+    type: and
+
+  - path: /sensing/none
+    type: and
+    list:
+      - { type: link, link: /sensing/imu/003-gyro_bias }
+      - { type: link, link: /sensing/gnss/002-quality }
+
+  # Intermediate paths
+  - path: /sensing/lidar/pndr/002-temperature-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /sensing/lidar/pndr/002-temperature }
+
+  - path: /sensing/imu/001-monitor-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /sensing/imu/001-monitor }
+
+  - path: /sensing/gnss/001-connection-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /sensing/gnss/001-connection }
+
+  - path: /sensing/lidar/pndr/001-connection
+    type: and
+    list:
+      - { type: link, link: /sensing/lidar/front_lower/connection }
+      - { type: link, link: /sensing/lidar/front_upper/connection }
+      - { type: link, link: /sensing/lidar/left_lower/connection }
+      - { type: link, link: /sensing/lidar/left_upper/connection }
+      - { type: link, link: /sensing/lidar/right_lower/connection }
+      - { type: link, link: /sensing/lidar/right_upper/connection }
+      - { type: link, link: /sensing/lidar/rear_lower/connection }
+      - { type: link, link: /sensing/lidar/rear_upper/connection }
+
+  - path: /sensing/lidar/pndr/002-temperature
+    type: and
+    list:
+      - { type: link, link: /sensing/lidar/front_lower/temperature }
+      - { type: link, link: /sensing/lidar/front_upper/temperature }
+      - { type: link, link: /sensing/lidar/left_lower/temperature }
+      - { type: link, link: /sensing/lidar/left_upper/temperature }
+      - { type: link, link: /sensing/lidar/right_lower/temperature }
+      - { type: link, link: /sensing/lidar/right_upper/temperature }
+      - { type: link, link: /sensing/lidar/rear_lower/temperature }
+      - { type: link, link: /sensing/lidar/rear_upper/temperature }
+
+  - path: /sensing/lidar/pndr/003-ptp
+    type: and
+    list:
+      - { type: link, link: /sensing/lidar/front_lower/ptp }
+      - { type: link, link: /sensing/lidar/front_upper/ptp }
+      - { type: link, link: /sensing/lidar/left_lower/ptp }
+      - { type: link, link: /sensing/lidar/left_upper/ptp }
+      - { type: link, link: /sensing/lidar/right_lower/ptp }
+      - { type: link, link: /sensing/lidar/right_upper/ptp }
+      - { type: link, link: /sensing/lidar/rear_lower/ptp }
+      - { type: link, link: /sensing/lidar/rear_upper/ptp }
+
+  - path: /sensing/camera/001-connection
+    type: and
+    list:
+      - { type: link, link: /sensing/camera/0/connection }
+      - { type: link, link: /sensing/camera/1/connection }
+      - { type: link, link: /sensing/camera/2/connection }
+      - { type: link, link: /sensing/camera/3/connection }
+      - { type: link, link: /sensing/camera/4/connection }
+      - { type: link, link: /sensing/camera/5/connection }
+      - { type: link, link: /sensing/camera/6/connection }
+      - { type: link, link: /sensing/camera/7/connection }
+
+  - path: /sensing/radar/001-connection
+    type: and
+    list:
+      - { type: link, link: /sensing/radar/front_center/connection }
+      - { type: link, link: /sensing/radar/front_left/connection }
+      - { type: link, link: /sensing/radar/front_right/connection }
+      - { type: link, link: /sensing/radar/rear_center/connection }
+      - { type: link, link: /sensing/radar/rear_left/connection }
+      - { type: link, link: /sensing/radar/rear_right/connection }
+
+  # Diagnostics paths
+  - path: /sensing/imu/001-monitor
+    diag: "imu_monitor: yaw_rate_status"
+    type: diag
+  - path: /sensing/imu/002-connection
+    diag: "topic_state_monitor_imu_data: sensing_topic_status"
+    type: diag
+  - path: /sensing/imu/003-gyro_bias
+    diag: "gyro_bias_estimator: gyro_bias_validator"
+    type: diag
+
+  - path: /sensing/gnss/001-connection
+    diag: "topic_state_monitor_gnss_pose: sensing_topic_status"
+    type: diag
+  - path: /sensing/gnss/002-quality
+    diag: "septentrio_driver: Quality indicators"
+    type: diag
+
+  - path: /sensing/lidar/front_lower/connection
+    diag: "pandar_monitor: /sensing/lidar/front_lower: pandar_connection"
+    type: diag
+  - path: /sensing/lidar/front_lower/ptp
+    diag: "pandar_monitor: /sensing/lidar/front_lower: pandar_ptp"
+    type: diag
+  - path: /sensing/lidar/front_lower/temperature
+    diag: "pandar_monitor: /sensing/lidar/front_lower: pandar_temperature"
+    type: diag
+
+  - path: /sensing/lidar/front_upper/connection
+    diag: "pandar_monitor: /sensing/lidar/front_upper: pandar_connection"
+    type: diag
+  - path: /sensing/lidar/front_upper/ptp
+    diag: "pandar_monitor: /sensing/lidar/front_upper: pandar_ptp"
+    type: diag
+  - path: /sensing/lidar/front_upper/temperature
+    diag: "pandar_monitor: /sensing/lidar/front_upper: pandar_temperature"
+    type: diag
+
+  - path: /sensing/lidar/left_lower/connection
+    diag: "pandar_monitor: /sensing/lidar/left_lower: pandar_connection"
+    type: diag
+  - path: /sensing/lidar/left_lower/ptp
+    diag: "pandar_monitor: /sensing/lidar/left_lower: pandar_ptp"
+    type: diag
+  - path: /sensing/lidar/left_lower/temperature
+    diag: "pandar_monitor: /sensing/lidar/left_lower: pandar_temperature"
+    type: diag
+
+  - path: /sensing/lidar/left_upper/connection
+    diag: "pandar_monitor: /sensing/lidar/left_upper: pandar_connection"
+    type: diag
+  - path: /sensing/lidar/left_upper/ptp
+    diag: "pandar_monitor: /sensing/lidar/left_upper: pandar_ptp"
+    type: diag
+  - path: /sensing/lidar/left_upper/temperature
+    diag: "pandar_monitor: /sensing/lidar/left_upper: pandar_temperature"
+    type: diag
+
+  - path: /sensing/lidar/right_lower/connection
+    diag: "pandar_monitor: /sensing/lidar/right_lower: pandar_connection"
+    type: diag
+  - path: /sensing/lidar/right_lower/ptp
+    diag: "pandar_monitor: /sensing/lidar/right_lower: pandar_ptp"
+    type: diag
+  - path: /sensing/lidar/right_lower/temperature
+    diag: "pandar_monitor: /sensing/lidar/right_lower: pandar_temperature"
+    type: diag
+
+  - path: /sensing/lidar/right_upper/connection
+    diag: "pandar_monitor: /sensing/lidar/right_upper: pandar_connection"
+    type: diag
+  - path: /sensing/lidar/right_upper/ptp
+    diag: "pandar_monitor: /sensing/lidar/right_upper: pandar_ptp"
+    type: diag
+  - path: /sensing/lidar/right_upper/temperature
+    diag: "pandar_monitor: /sensing/lidar/right_upper: pandar_temperature"
+    type: diag
+
+  - path: /sensing/lidar/rear_lower/connection
+    diag: "pandar_monitor: /sensing/lidar/rear_lower: pandar_connection"
+    type: diag
+  - path: /sensing/lidar/rear_lower/ptp
+    diag: "pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp"
+    type: diag
+  - path: /sensing/lidar/rear_lower/temperature
+    diag: "pandar_monitor: /sensing/lidar/rear_lower: pandar_temperature"
+    type: diag
+
+  - path: /sensing/lidar/rear_upper/connection
+    diag: "pandar_monitor: /sensing/lidar/rear_upper: pandar_connection"
+    type: diag
+  - path: /sensing/lidar/rear_upper/ptp
+    diag: "pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp"
+    type: diag
+  - path: /sensing/lidar/rear_upper/temperature
+    diag: "pandar_monitor: /sensing/lidar/rear_upper: pandar_temperature"
+    type: diag
+
+  - path: /sensing/camera/0/connection
+    diag: "topic_state_monitor_camera0: sensing_topic_status"
+    type: diag
+  - path: /sensing/camera/1/connection
+    diag: "topic_state_monitor_camera1: sensing_topic_status"
+    type: diag
+  - path: /sensing/camera/2/connection
+    diag: "topic_state_monitor_camera2: sensing_topic_status"
+    type: diag
+  - path: /sensing/camera/3/connection
+    diag: "topic_state_monitor_camera3: sensing_topic_status"
+    type: diag
+  - path: /sensing/camera/4/connection
+    diag: "topic_state_monitor_camera4: sensing_topic_status"
+    type: diag
+  - path: /sensing/camera/5/connection
+    diag: "topic_state_monitor_camera5: sensing_topic_status"
+    type: diag
+  - path: /sensing/camera/6/connection
+    diag: "topic_state_monitor_camera6: sensing_topic_status"
+    type: diag
+  - path: /sensing/camera/7/connection
+    diag: "topic_state_monitor_camera7: sensing_topic_status"
+    type: diag
+
+  - path: /sensing/radar/front_center/connection
+    diag: "topic_state_monitor_radar_front_center: sensing_topic_status"
+    type: diag
+  - path: /sensing/radar/front_left/connection
+    diag: "topic_state_monitor_radar_front_left: sensing_topic_status"
+    type: diag
+  - path: /sensing/radar/front_right/connection
+    diag: "topic_state_monitor_radar_front_right: sensing_topic_status"
+    type: diag
+  - path: /sensing/radar/rear_center/connection
+    diag: "topic_state_monitor_radar_rear_center: sensing_topic_status"
+    type: diag
+  - path: /sensing/radar/rear_left/connection
+    diag: "topic_state_monitor_radar_rear_left: sensing_topic_status"
+    type: diag
+  - path: /sensing/radar/rear_right/connection
+    diag: "topic_state_monitor_radar_rear_right: sensing_topic_status"
+    type: diag
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml
new file mode 100644
index 0000000000..f64a1029c7
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml
@@ -0,0 +1,78 @@
+nodes:
+  - path: /system/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /system/emergency_stop }
+      - { type: link, link: /system/pull_over }
+      - { type: link, link: /system/comfortable_stop }
+
+  - path: /system/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /system/emergency_stop }
+      - { type: link, link: /system/comfortable_stop }
+
+  - path: /system/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /system/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /system/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /system/001-topic_status-error }
+      - { type: link, link: /system/002-emergency_stop_operation-error }
+
+  - path: /system/comfortable_stop
+    type: and
+
+  - path: /system/pull_over
+    type: and
+    list:
+      - { type: link, link: /system/005-fms_connection-error }
+
+  - path: /system/none
+    type: and
+    list:
+      - { type: link, link: /system/003-bagpacker_status }
+      - { type: link, link: /system/004-bagpacker_disk_space }
+
+  # Intermediate paths
+  - path: /system/001-topic_status-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /system/001-topic_status }
+
+  - path: /system/002-emergency_stop_operation-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /system/002-emergency_stop_operation }
+
+  - path: /system/005-fms_connection-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /system/005-fms_connection }
+
+  # Diagnostics paths
+  - path: /system/001-topic_status
+    diag: "topic_state_monitor_system_emergency_control_cmd: system_topic_status"
+    type: diag
+
+  - path: /system/002-emergency_stop_operation
+    diag: "vehicle_cmd_gate: emergency_stop_operation"
+    type: diag
+
+  - path: /system/003-bagpacker_status
+    diag: bagpacker_state
+    type: diag
+
+  - path: /system/004-bagpacker_disk_space
+    diag: bagpacker_state/disk_usage
+    type: diag
+
+  - path: /system/005-fms_connection
+    diag: edge_core_internet_connection
+    type: diag
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml
new file mode 100644
index 0000000000..6a31c5510e
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml
@@ -0,0 +1,76 @@
+nodes:
+  - path: /vehicle/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /vehicle/emergency_stop }
+      - { type: link, link: /vehicle/pull_over }
+      - { type: link, link: /vehicle/comfortable_stop }
+
+  - path: /vehicle/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /vehicle/emergency_stop }
+      - { type: link, link: /vehicle/comfortable_stop }
+
+  - path: /vehicle/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /vehicle/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /vehicle/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /vehicle/001-topic_status/velocity-error }
+      - { type: link, link: /vehicle/001-topic_status/steering-error }
+      - { type: link, link: /vehicle/005-vehicle_heartbeat-error }
+      - { type: link, link: /vehicle/006-vehicle_errors-error }
+
+  - path: /vehicle/comfortable_stop
+    type: and
+
+  - path: /vehicle/pull_over
+    type: and
+
+  - path: /vehicle/none
+    type: and
+
+  # Intermediate paths
+  - path: /vehicle/001-topic_status/velocity-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /vehicle/001-topic_status/velocity }
+
+  - path: /vehicle/001-topic_status/steering-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /vehicle/001-topic_status/steering }
+
+  - path: /vehicle/005-vehicle_heartbeat-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /vehicle/005-vehicle_heartbeat }
+
+  - path: /vehicle/006-vehicle_errors-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /vehicle/006-vehicle_errors }
+
+  # Diagnostics paths
+  - path: /vehicle/001-topic_status/velocity
+    diag: "topic_state_monitor_vehicle_status_velocity_status: vehicle_topic_status"
+    type: diag
+
+  - path: /vehicle/001-topic_status/steering
+    diag: "topic_state_monitor_vehicle_status_steering_status: vehicle_topic_status"
+    type: diag
+
+  - path: /vehicle/005-vehicle_heartbeat
+    diag: "j6_interface: vehicle_heartbeat_errors"
+    type: diag
+
+  - path: /vehicle/006-vehicle_errors
+    diag: "j6_interface: vehicle_errors"
+    type: diag