diff --git a/launch/system_launch/CMakeLists.txt b/launch/system_launch/CMakeLists.txt
index 1d58a61079075..656e60c6d0093 100644
--- a/launch/system_launch/CMakeLists.txt
+++ b/launch/system_launch/CMakeLists.txt
@@ -16,4 +16,5 @@ endif()
ament_auto_package(INSTALL_TO_SHARE
launch
+ config
)
diff --git a/launch/system_launch/config/system_monitor.param.yaml b/launch/system_launch/config/system_monitor.param.yaml
new file mode 100644
index 0000000000000..1dcc35d73c9bf
--- /dev/null
+++ b/launch/system_launch/config/system_monitor.param.yaml
@@ -0,0 +1,45 @@
+cpu_monitor:
+ ros__parameters:
+ temp_warn: 90.0
+ temp_error: 95.0
+ usage_warn: 0.90
+ usage_error: 1.00
+ usage_avg: true
+ load1_warn: 0.90
+ load5_warn: 0.80
+ msr_reader_port: 7634
+hdd_monitor:
+ ros__parameters:
+ hdd_reader_port: 7635
+ num_disks: 2
+ disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1}
+ disk0:
+ name: /dev/sda
+ temp_warn: 55.0
+ temp_error: 70.0
+ usage_warn: 0.95
+ usage_error: 0.99
+mem_monitor:
+ ros__parameters:
+ usage_warn: 0.95
+ usage_error: 0.99
+net_monitor:
+ ros__parameters:
+ devices: ["*"]
+ usage_warn: 0.95
+ntp_monitor:
+ ros__parameters:
+ server: ntp.nict.jp
+ offset_warn: 0.1
+ offset_error: 5.0
+process_monitor:
+ ros__parameters:
+ num_of_procs: 5
+gpu_monitor:
+ ros__parameters:
+ temp_warn: 90.0
+ temp_error: 95.0
+ gpu_usage_warn: 0.90
+ gpu_usage_error: 1.00
+ memory_usage_warn: 0.95
+ memory_usage_error: 0.99
diff --git a/launch/system_launch/launch/system.launch.xml b/launch/system_launch/launch/system.launch.xml
index d13998a6550dd..cea10f657c339 100644
--- a/launch/system_launch/launch/system.launch.xml
+++ b/launch/system_launch/launch/system.launch.xml
@@ -3,21 +3,44 @@
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
+
+
+
+
+
+
+
+
+
+
+
diff --git a/launch/system_launch/package.xml b/launch/system_launch/package.xml
index cd1a54517d896..1946cb6774dd1 100644
--- a/launch/system_launch/package.xml
+++ b/launch/system_launch/package.xml
@@ -10,6 +10,7 @@
ament_cmake_auto
+ system_monitor
autoware_state_monitor
autoware_error_monitor
emergency_handler