diff --git a/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
new file mode 100644
index 00000000..405c72a2
--- /dev/null
+++ b/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -0,0 +1,27 @@
+# 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:
+      # velodyne
+      velodyne_connection: default
+      velodyne_temperature: default
+      velodyne_rpm: default
+
+      # livox
+      livox_connection: default
+      livox_fan_status: default
+      livox_firmware_status: default
+      livox_internal_voltage: default
+      livox_motor_status: default
+      livox_service_life: default
+      livox_temperature: default
diff --git a/aip_x1_launch/launch/dummy_diag_publisher/lidar.launch.xml b/aip_x1_launch/launch/dummy_diag_publisher/lidar.launch.xml
deleted file mode 100644
index 8abe08ef..00000000
--- a/aip_x1_launch/launch/dummy_diag_publisher/lidar.launch.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
-  <include file="$(find-pkg-share common_sensor_launch)/launch/dummy_diag_publisher/velodyne.launch.xml"/>
-  <include file="$(find-pkg-share common_sensor_launch)/launch/dummy_diag_publisher/livox.launch.xml"/>
-
-</launch>
diff --git a/aip_x1_launch/launch/dummy_diag_publisher/sensing.launch.xml b/aip_x1_launch/launch/dummy_diag_publisher/sensing.launch.xml
deleted file mode 100644
index 0d28e804..00000000
--- a/aip_x1_launch/launch/dummy_diag_publisher/sensing.launch.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-
-  <include file="$(find-pkg-share aip_x1_launch)/launch/dummy_diag_publisher/lidar.launch.xml"/>
-
-</launch>
diff --git a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
new file mode 100644
index 00000000..04311e2c
--- /dev/null
+++ b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -0,0 +1,28 @@
+# Description:
+#   name: diag name
+#   is_active: Force update or not
+#   status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
+#
+# Note:
+#
+# default values are:
+#   is_active: "true"
+#   status: "OK"
+---
+/**:
+  ros__parameters:
+    required_diags:
+      # gnss
+      gnss_connection: default
+      gnss_data: default
+      gnss_antenna: default
+      gnss_tx_usage: default
+      gnss_spoofing: default
+      gnss_jamming: default
+      fix topic status: default
+
+      # lidar
+      #"left_upper: visibility_validation": default
+      #blockage_validation: default
+
+      sensing_topic_status: default
diff --git a/aip_x2_launch/launch/dummy_diag_publisher/lidar.launch.xml b/aip_x2_launch/launch/dummy_diag_publisher/lidar.launch.xml
deleted file mode 100644
index e2bf4bc7..00000000
--- a/aip_x2_launch/launch/dummy_diag_publisher/lidar.launch.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<launch>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="left_upper: visibility_validation"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="blockage_validation"/>
-  </include>
-
-</launch>
diff --git a/aip_x2_launch/launch/dummy_diag_publisher/sensing.launch.xml b/aip_x2_launch/launch/dummy_diag_publisher/sensing.launch.xml
deleted file mode 100644
index d498441a..00000000
--- a/aip_x2_launch/launch/dummy_diag_publisher/sensing.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <include file="$(find-pkg-share common_sensor_launch)/launch/dummy_diag_publisher/gnss.launch.xml"/>
-  <!-- <include file="$(find-pkg-share aip_x2_launch)/launch/dummy_diag_publisher/lidar.launch.xml"/> -->
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="sensing_topic_status"/>
-  </include>
-
-</launch>
diff --git a/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
new file mode 100644
index 00000000..5d4e24a0
--- /dev/null
+++ b/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -0,0 +1,27 @@
+# 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
diff --git a/aip_xx1_launch/launch/dummy_diag_publisher/lidar.launch.xml b/aip_xx1_launch/launch/dummy_diag_publisher/lidar.launch.xml
deleted file mode 100644
index e4c52352..00000000
--- a/aip_xx1_launch/launch/dummy_diag_publisher/lidar.launch.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-
-  <include file="$(find-pkg-share common_sensor_launch)/launch/dummy_diag_publisher/velodyne.launch.xml"/>
-
-</launch>
diff --git a/aip_xx1_launch/launch/dummy_diag_publisher/sensing.launch.xml b/aip_xx1_launch/launch/dummy_diag_publisher/sensing.launch.xml
deleted file mode 100644
index 1348022e..00000000
--- a/aip_xx1_launch/launch/dummy_diag_publisher/sensing.launch.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
-  <include file="$(find-pkg-share common_sensor_launch)/launch/dummy_diag_publisher/gnss.launch.xml"/>
-  <include file="$(find-pkg-share aip_xx1_launch)/launch/dummy_diag_publisher/lidar.launch.xml"/>
-
-</launch>
diff --git a/common_sensor_launch/launch/dummy_diag_publisher/gnss.launch.xml b/common_sensor_launch/launch/dummy_diag_publisher/gnss.launch.xml
deleted file mode 100644
index 3835eaf5..00000000
--- a/common_sensor_launch/launch/dummy_diag_publisher/gnss.launch.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<launch>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="gnss_connection"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="gnss_data"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="gnss_antenna"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="gnss_tx_usage"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="gnss_spoofing"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="gnss_jamming"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="fix topic status"/>
-  </include>
-
-</launch>
diff --git a/common_sensor_launch/launch/dummy_diag_publisher/livox.launch.xml b/common_sensor_launch/launch/dummy_diag_publisher/livox.launch.xml
deleted file mode 100644
index 1df141e9..00000000
--- a/common_sensor_launch/launch/dummy_diag_publisher/livox.launch.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<launch>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="livox_connection"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="livox_fan_status"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="livox_firmware_status"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="livox_internal_voltage"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="livox_motor_status"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="livox_service_life"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="livox_temperature"/>
-  </include>
-
-</launch>
diff --git a/common_sensor_launch/launch/dummy_diag_publisher/velodyne.launch.xml b/common_sensor_launch/launch/dummy_diag_publisher/velodyne.launch.xml
deleted file mode 100644
index 86db145c..00000000
--- a/common_sensor_launch/launch/dummy_diag_publisher/velodyne.launch.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="velodyne_connection"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="velodyne_temperature"/>
-  </include>
-
-  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
-    <arg name="diag_name" value="velodyne_rpm"/>
-  </include>
-
-</launch>