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 @@
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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
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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
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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
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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
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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
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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
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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
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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
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