diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
index 7f002b1380..9950acbc7e 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
@@ -3,4 +3,3 @@ files:
 
 edits:
   - { type: remove, path: /autoware/system/duplicated_node_checker }
-  - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
index 7d0a1c0c8a..39d276b449 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
@@ -1,7 +1,75 @@
-# This is the default setting file of diagnostic_graph_aggregator for vehicle usage
-# We will use autoware.yaml to replace this file for vehicle test in the future
 files:
-  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.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)/sensing.yaml }
+  - { path: $(dirname)/hardware.yaml }
 
-edits:
-  - { type: remove, path: /autoware/control/emergency_braking }
+units:
+  - path: /autoware/modes/stop
+    type: ok
+
+  - path: /autoware/modes/autonomous
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/sensing/autonomous_available }
+      - { type: link, link: /autoware/hardware/autonomous_available }
+
+  - path: /autoware/modes/local
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/control/local }
+
+  - path: /autoware/modes/remote
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/control/remote }
+
+  - path: /autoware/modes/emergency_stop
+    type: ok
+
+  - path: /autoware/modes/comfortable_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/sensing/comfortable_stop_available }
+      - { type: link, link: /autoware/hardware/comfortable_stop_available }
+
+  - path: /autoware/modes/pull_over
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/sensing/pull_over_available }
+      - { type: link, link: /autoware/hardware/pull_over_available }
+
+  - path: /autoware/debug/tools
+    type: and
+    list:
+      - { type: link, link: /autoware/system/service_log_checker }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
index b6695cbab8..1aa8695fec 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
@@ -1,6 +1,6 @@
 files:
   # prettier-ignore
-  - { path: $(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware.yaml }
+  - { path: $(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml }
 
 edits:
   - { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml
deleted file mode 100644
index 30b6ce9bad..0000000000
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml
+++ /dev/null
@@ -1,70 +0,0 @@
-files:
-  - { 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 }
-
-units:
-  - path: /autoware/modes/stop
-    type: ok
-
-  - path: /autoware/modes/autonomous
-    type: and
-    list:
-      - { type: link, link: /autoware/map }
-      - { type: link, link: /autoware/localization }
-      - { type: link, link: /autoware/planning }
-      - { type: link, link: /autoware/perception }
-      - { type: link, link: /autoware/control }
-      - { type: link, link: /autoware/vehicle }
-      - { type: link, link: /autoware/system }
-
-  - path: /autoware/modes/local
-    type: and
-    list:
-      - { type: link, link: /autoware/vehicle }
-      - { type: link, link: /autoware/system }
-      - { type: link, link: /autoware/control/local }
-
-  - path: /autoware/modes/remote
-    type: and
-    list:
-      - { type: link, link: /autoware/vehicle }
-      - { type: link, link: /autoware/system }
-      - { type: link, link: /autoware/control/remote }
-
-  - path: /autoware/modes/emergency_stop
-    type: and
-    list:
-      - { type: link, link: /autoware/vehicle }
-      - { type: link, link: /autoware/system }
-
-  - path: /autoware/modes/comfortable_stop
-    type: and
-    list:
-      - { type: link, link: /autoware/map }
-      - { type: link, link: /autoware/localization }
-      - { type: link, link: /autoware/planning }
-      - { type: link, link: /autoware/perception }
-      - { type: link, link: /autoware/control }
-      - { type: link, link: /autoware/vehicle }
-      - { type: link, link: /autoware/system }
-
-  - path: /autoware/modes/pull_over
-    type: and
-    list:
-      - { type: link, link: /autoware/map }
-      - { type: link, link: /autoware/localization }
-      - { type: link, link: /autoware/planning }
-      - { type: link, link: /autoware/perception }
-      - { type: link, link: /autoware/control }
-      - { type: link, link: /autoware/vehicle }
-      - { type: link, link: /autoware/system }
-
-  - path: /autoware/debug/tools
-    type: and
-    list:
-      - { type: link, link: /autoware/system/service_log_checker }
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..047cccc5a0
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml
@@ -0,0 +1,327 @@
+units:
+  - path: /autoware/hardware/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /autoware/hardware/emergency_stop }
+      - { type: link, link: /autoware/hardware/pull_over }
+      - { type: link, link: /autoware/hardware/comfortable_stop }
+
+  - path: /autoware/hardware/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /autoware/hardware/emergency_stop }
+      - { type: link, link: /autoware/hardware/comfortable_stop }
+
+  - path: /autoware/hardware/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /autoware/hardware/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /autoware/hardware/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/hardware/cpu/usage }
+      - { type: link, link: /autoware/hardware/cpu/thermal_throttling }
+      - { type: link, link: /autoware/hardware/storage/temperature }
+      - { type: link, link: /autoware/hardware/storage/connection }
+      - { type: link, link: /autoware/hardware/storage/recovered_error }
+      - { type: link, link: /autoware/hardware/storage/load }
+      - { type: link, link: /autoware/hardware/memory/usage }
+      - { type: link, link: /autoware/hardware/network/network_crc_error }
+      - { type: link, link: /autoware/hardware/network/ip_packet_reassembles_failed }
+      - { type: link, link: /autoware/hardware/gpu/temperature }
+      - { type: link, link: /autoware/hardware/gpu/gpu_usage }
+      - { type: link, link: /autoware/hardware/gpu/memory_usage }
+      - { type: link, link: /autoware/hardware/gpu/thermal_throttling }
+      - { type: link, link: /autoware/hardware/gpu/frequency }
+
+  - path: /autoware/hardware/pull_over
+    type: and
+    list:
+      - { type: link, link: /autoware/hardware/storage/usage }
+
+  - path: /autoware/hardware/comfortable_stop
+    type: and
+
+  - path: /autoware/hardware/none
+    type: and
+    list:
+      - { type: link, link: /autoware/hardware/cpu/temperature }
+      - { type: link, link: /autoware/hardware/cpu/load_average }
+      - { type: link, link: /autoware/hardware/cpu/frequency }
+      - { type: link, link: /autoware/hardware/storage/total_data_written }
+      - { type: link, link: /autoware/hardware/storage/power_on_hours }
+      - { type: link, link: /autoware/hardware/network/network_usage }
+      - { type: link, link: /autoware/hardware/network/network_traffic }
+      - { type: link, link: /autoware/hardware/clock/clock_offset }
+      - { type: link, link: /autoware/hardware/process/tasks_summary }
+      - { type: link, link: /autoware/hardware/process/load }
+      - { type: link, link: /autoware/hardware/process/memory }
+      - { type: link, link: /autoware/hardware/cmos_battery }
+
+  # Intermediate paths
+
+  - path: /autoware/hardware/storage/load
+    type: and
+    list:
+      - { type: link, link: /autoware/hardware/storage/read_data_rate }
+      - { type: link, link: /autoware/hardware/storage/read_iops }
+      - { type: link, link: /autoware/hardware/storage/write_data_rate }
+      - { type: link, link: /autoware/hardware/storage/write_iops }
+
+  - path: /autoware/hardware/process/load
+    type: and
+    list:
+      - { type: link, link: /autoware/hardware/process/load/proc-0 }
+      - { type: link, link: /autoware/hardware/process/load/proc-1 }
+      - { type: link, link: /autoware/hardware/process/load/proc-2 }
+      - { type: link, link: /autoware/hardware/process/load/proc-3 }
+      - { type: link, link: /autoware/hardware/process/load/proc-4 }
+
+  - path: /autoware/hardware/process/memory
+    type: and
+    list:
+      - { type: link, link: /autoware/hardware/process/memory/proc-0 }
+      - { type: link, link: /autoware/hardware/process/memory/proc-1 }
+      - { type: link, link: /autoware/hardware/process/memory/proc-2 }
+      - { type: link, link: /autoware/hardware/process/memory/proc-3 }
+      - { type: link, link: /autoware/hardware/process/memory/proc-4 }
+
+  # Intermediate paths
+
+  # reference: ./src/autoware/universe/system/system_monitor/docs/topics_cpu_monitor.md and other .md files
+  # Also, you can consider use
+  #   ros2 topic echo /diagnostics | grep xxx
+  # Replace xxx with "cpu" "HDD" etc.
+  # To find the corresponding "node" and "name"
+
+  - path: /autoware/hardware/clock/clock_offset
+    type: diag
+    node: ntp_monitor
+    name: NTP Offset
+    timeout: 10.0
+
+  - path: /autoware/hardware/cpu/temperature
+    type: diag
+    node: cpu_monitor
+    name: CPU Temperature
+    timeout: 3.0
+
+  - path: /autoware/hardware/cpu/usage
+    type: diag
+    node: cpu_monitor
+    name: CPU Usage
+    timeout: 3.0
+
+  - path: /autoware/hardware/cpu/thermal_throttling
+    type: diag
+    node: cpu_monitor
+    name: CPU Thermal Throttling
+    timeout: 3.0
+
+  - path: /autoware/hardware/cpu/frequency
+    type: diag
+    node: cpu_monitor
+    name: CPU Frequency
+    timeout: 3.0
+
+  - path: /autoware/hardware/cpu/load_average
+    type: diag
+    node: cpu_monitor
+    name: CPU Load Average
+    timeout: 3.0
+
+  - path: /autoware/hardware/gpu/temperature
+    type: diag
+    node: gpu_monitor
+    name: GPU Temperature
+    timeout: 3.0
+
+  - path: /autoware/hardware/gpu/gpu_usage
+    type: diag
+    node: gpu_monitor
+    name: GPU Usage
+    timeout: 3.0
+
+  - path: /autoware/hardware/gpu/memory_usage
+    type: diag
+    node: gpu_monitor
+    name: GPU Memory Usage
+    timeout: 3.0
+
+  - path: /autoware/hardware/gpu/thermal_throttling
+    type: diag
+    node: gpu_monitor
+    name: GPU Thermal Throttling
+    timeout: 3.0
+
+  - path: /autoware/hardware/gpu/frequency
+    type: diag
+    node: gpu_monitor
+    name: GPU Frequency
+    timeout: 3.0
+
+  - path: /autoware/hardware/memory/usage
+    type: diag
+    node: mem_monitor
+    name: Memory Usage
+    timeout: 3.0
+
+  - path: /autoware/hardware/network/network_usage
+    type: diag
+    node: net_monitor
+    name: Network Usage
+    timeout: 3.0
+
+  - path: /autoware/hardware/network/network_traffic
+    type: diag
+    node: net_monitor
+    name: Network Traffic
+    timeout: 3.0
+
+  - path: /autoware/hardware/network/network_crc_error
+    type: diag
+    node: net_monitor
+    name: Network CRC Error
+    timeout: 3.0
+
+  - path: /autoware/hardware/network/ip_packet_reassembles_failed
+    type: diag
+    node: net_monitor
+    name: IP Packet Reassembles Failed
+    timeout: 3.0
+
+  - path: /autoware/hardware/storage/temperature
+    type: diag
+    node: hdd_monitor
+    name: HDD Temperature
+    timeout: 3.0
+
+  - path: /autoware/hardware/storage/recovered_error
+    type: diag
+    node: hdd_monitor
+    name: HDD RecoveredError
+    timeout: 3.0
+
+  - path: /autoware/hardware/storage/read_data_rate
+    type: diag
+    node: hdd_monitor
+    name: HDD ReadDataRate
+    timeout: 3.0
+
+  - path: /autoware/hardware/storage/write_data_rate
+    type: diag
+    node: hdd_monitor
+    name: HDD WriteDataRate
+    timeout: 3.0
+
+  - path: /autoware/hardware/storage/read_iops
+    type: diag
+    node: hdd_monitor
+    name: HDD ReadIOPS
+    timeout: 3.0
+
+  - path: /autoware/hardware/storage/write_iops
+    type: diag
+    node: hdd_monitor
+    name: HDD WriteIOPS
+    timeout: 3.0
+
+  - path: /autoware/hardware/storage/usage
+    type: diag
+    node: hdd_monitor
+    name: HDD Usage
+    timeout: 3.0
+
+  - path: /autoware/hardware/storage/power_on_hours
+    type: diag
+    node: hdd_monitor
+    name: HDD PowerOnHours
+    timeout: 3.0
+
+  - path: /autoware/hardware/storage/total_data_written
+    type: diag
+    node: hdd_monitor
+    name: HDD TotalDataWritten
+    timeout: 3.0
+
+  - path: /autoware/hardware/storage/connection
+    type: diag
+    node: hdd_monitor
+    name: HDD Connection
+    timeout: 3.0
+
+  - path: /autoware/hardware/process/memory/proc-0
+    type: diag
+    node: process_monitor
+    name: High-mem Proc[0]
+    timeout: 3.0
+
+  - path: /autoware/hardware/process/memory/proc-1
+    type: diag
+    node: process_monitor
+    name: High-mem Proc[1]
+    timeout: 3.0
+
+  - path: /autoware/hardware/process/memory/proc-2
+    type: diag
+    node: process_monitor
+    name: High-mem Proc[2]
+    timeout: 3.0
+
+  - path: /autoware/hardware/process/memory/proc-3
+    type: diag
+    node: process_monitor
+    name: High-mem Proc[3]
+    timeout: 3.0
+
+  - path: /autoware/hardware/process/memory/proc-4
+    type: diag
+    node: process_monitor
+    name: High-mem Proc[4]
+    timeout: 3.0
+
+  - path: /autoware/hardware/process/load/proc-0
+    type: diag
+    node: process_monitor
+    name: High-load Proc[0]
+    timeout: 3.0
+
+  - path: /autoware/hardware/process/load/proc-1
+    type: diag
+    node: process_monitor
+    name: High-load Proc[1]
+    timeout: 3.0
+
+  - path: /autoware/hardware/process/load/proc-2
+    type: diag
+    node: process_monitor
+    name: High-load Proc[2]
+    timeout: 3.0
+
+  - path: /autoware/hardware/process/load/proc-3
+    type: diag
+    node: process_monitor
+    name: High-load Proc[3]
+    timeout: 3.0
+
+  - path: /autoware/hardware/process/load/proc-4
+    type: diag
+    node: process_monitor
+    name: High-load Proc[4]
+    timeout: 3.0
+
+  - path: /autoware/hardware/process/tasks_summary
+    type: diag
+    node: process_monitor
+    name: Tasks Summary
+    timeout: 3.0
+
+  - path: /autoware/hardware/cmos_battery
+    type: diag
+    node: voltage_monitor
+    name: CMOS Battery Status
+    timeout: 3.0
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..c7ad137ccc
--- /dev/null
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml
@@ -0,0 +1,153 @@
+units:
+  - path: /autoware/sensing/autonomous_available
+    type: and
+    list:
+      - { type: link, link: /autoware/sensing/emergency_stop }
+      - { type: link, link: /autoware/sensing/pull_over }
+      - { type: link, link: /autoware/sensing/comfortable_stop }
+
+  - path: /autoware/sensing/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /autoware/sensing/emergency_stop }
+      - { type: link, link: /autoware/sensing/comfortable_stop }
+
+  - path: /autoware/sensing/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /autoware/sensing/emergency_stop }
+
+  # ***************************************************
+
+  - path: /autoware/sensing/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/sensing/imu/connection }
+      - { type: link, link: /autoware/sensing/lidar/velodyne/connection }
+      - { type: link, link: /autoware/sensing/lidar/velodyne/temperature }
+      - { type: link, link: /autoware/sensing/lidar/velodyne/rpm }
+      - { type: link, link: /autoware/sensing/camera/connection }
+
+  - path: /autoware/sensing/pull_over
+    type: and
+    list:
+      - { type: link, link: /autoware/sensing/lidar/velodyne/temperature }
+
+  - path: /autoware/sensing/comfortable_stop
+    type: and
+
+  - path: /autoware/sensing/none
+    type: and
+    list:
+      - { type: link, link: /autoware/sensing/imu/gyro_bias_validator }
+      # - { type: link, link: /autoware/sensing/lidar/performance_monitoring/blockage }   ---->To be checked in v0.47.0
+      - { type: link, link: /autoware/sensing/gnss/fix }
+      - { type: link, link: /autoware/sensing/gnss/connection }
+
+  # ***************************************************
+  # Intermediate paths
+
+  - path: /autoware/sensing/camera/connection
+    type: and
+    list:
+      - { type: link, link: /autoware/sensing/camera/0/connection }
+      - { type: link, link: /autoware/sensing/camera/1/connection }
+      - { type: link, link: /autoware/sensing/camera/2/connection }
+      - { type: link, link: /autoware/sensing/camera/3/connection }
+      - { type: link, link: /autoware/sensing/camera/4/connection }
+      - { type: link, link: /autoware/sensing/camera/5/connection }
+      - { type: link, link: /autoware/sensing/camera/6/connection }
+
+  # ***************************************************
+
+  # Diagnostics paths
+  - path: /autoware/sensing/imu/connection
+    type: diag
+    node: topic_state_monitor_imu
+    name: sensing_topic_status
+    timeout: 1.0
+
+  - path: /autoware/sensing/imu/gyro_bias_validator
+    type: diag
+    node: gyro_bias_validator
+    name: gyro_bias_validator
+    timeout: 1.0
+
+  # ---->To be check in v0.47.0
+  # - path: /autoware/sensing/lidar/performance_monitoring/blockage
+  #   type: diag
+  #   node: blockage
+  #   name: blockage_validation
+  #   timeout: 1.0
+
+  - path: /autoware/sensing/lidar/velodyne/connection
+    type: diag
+    node: velodyne_monitor
+    name: velodyne_connection
+    timeout: 3.0
+
+  - path: /autoware/sensing/lidar/velodyne/temperature
+    type: diag
+    node: velodyne_monitor
+    name: velodyne_temperature
+    timeout: 3.0
+
+  - path: /autoware/sensing/lidar/velodyne/rpm
+    type: diag
+    node: velodyne_monitor
+    name: velodyne_rpm
+    timeout: 3.0
+
+  - path: /autoware/sensing/gnss/connection
+    type: diag
+    node: ublox
+    name: fix topic status
+    timeout: 3.0
+
+  - path: /autoware/sensing/gnss/fix
+    type: diag
+    node: ublox
+    name: fix
+    timeout: 3.0
+
+  - path: /autoware/sensing/camera/0/connection
+    type: diag
+    node: topic_state_monitor_camera0
+    name: sensing_topic_status
+    timeout: 1.0
+
+  - path: /autoware/sensing/camera/1/connection
+    type: diag
+    node: topic_state_monitor_camera1
+    name: sensing_topic_status
+    timeout: 1.0
+
+  - path: /autoware/sensing/camera/2/connection
+    type: diag
+    node: topic_state_monitor_camera2
+    name: sensing_topic_status
+    timeout: 1.0
+
+  - path: /autoware/sensing/camera/3/connection
+    type: diag
+    node: topic_state_monitor_camera3
+    name: sensing_topic_status
+    timeout: 1.0
+
+  - path: /autoware/sensing/camera/4/connection
+    type: diag
+    node: topic_state_monitor_camera4
+    name: sensing_topic_status
+    timeout: 1.0
+
+  - path: /autoware/sensing/camera/5/connection
+    type: diag
+    node: topic_state_monitor_camera5
+    name: sensing_topic_status
+    timeout: 1.0
+
+  - path: /autoware/sensing/camera/6/connection
+    type: diag
+    node: topic_state_monitor_camera6
+    name: sensing_topic_status
+    timeout: 1.0
diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
index ca75ddceeb..20797c2b72 100644
--- a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
+++ b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
@@ -14,50 +14,67 @@
 /**:
   ros__parameters:
     required_diags:
-      #example
-      #"node: name": default
 
-      # Debug
+      # Debug example
       # "node_A: name_B": default
 
-      #map
+      # map
       "topic_state_monitor_pointcloud_map: map_topic_status": default
 
-      #control
+      # control
       # joy_controller_connection: default
 
-      #localization
+      # sensing
+      # sensing monitoring items published by dummy_diag_publisher are saved at
+      # /src/autoware/aip_launcher/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
+
+      # localization
       "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
       "ndt_scan_matcher: scan_matching_status": default
       "localization: localization_error_monitor": default
       "localization: ekf_localizer": default
 
-      #system
-
-      # bagpacker: default
-      # NTP Offset: default
-      # CPU Temperature: default
-      # CPU Usage: default
-      # CPU Thermal Throttling: default
-      # CPU Frequency: default
-      # CPU Load Average: default
-      # GPU Temperature: default
-      # GPU Usage: default
-      # GPU Memory Usage: default
-      # GPU Thermal Throttling: default
-      # Memory Usage: default
-      # Network Usage: default
-      # Network Traffic: default
-      # HDD Temperature: default
-      # HDD Usage: default
-      # HDD PowerOnHours: default
-      # HDD TotalDataWritten: default
-      # High-load: default
-      # High-mem: default
-      # Tasks Summary: default
-
-      #vehicle
+      # hardware
+      "ntp_monitor: NTP Offset": default
+      "cpu_monitor: CPU Temperature": default
+      "cpu_monitor: CPU Usage": default
+      "cpu_monitor: CPU Thermal Throttling": default
+      "cpu_monitor: CPU Frequency": default
+      "cpu_monitor: CPU Load Average": default
+      "gpu_monitor: GPU Temperature": default
+      "gpu_monitor: GPU Usage": default
+      "gpu_monitor: GPU Memory Usage": default
+      "gpu_monitor: GPU Thermal Throttling": default
+      "gpu_monitor: GPU Frequency": default
+      "mem_monitor: Memory Usage": default
+      "net_monitor: Network Usage": default
+      "net_monitor: Network Traffic": default
+      "net_monitor: Network CRC Error": default
+      "net_monitor: IP Packet Reassembles Failed": default
+      "hdd_monitor: HDD Temperature": default
+      "hdd_monitor: HDD RecoveredError": default
+      "hdd_monitor: HDD ReadDataRate": default
+      "hdd_monitor: HDD WriteDataRate": default
+      "hdd_monitor: HDD ReadIOPS": default
+      "hdd_monitor: HDD WriteIOPS": default
+      "hdd_monitor: HDD Usage": default
+      "hdd_monitor: HDD PowerOnHours": default
+      "hdd_monitor: HDD TotalDataWritten": default
+      "hdd_monitor: HDD Connection": default
+      "process_monitor: High-mem Proc[0]": default
+      "process_monitor: High-mem Proc[1]": default
+      "process_monitor: High-mem Proc[2]": default
+      "process_monitor: High-mem Proc[3]": default
+      "process_monitor: High-mem Proc[4]": default
+      "process_monitor: High-load Proc[0]": default
+      "process_monitor: High-load Proc[1]": default
+      "process_monitor: High-load Proc[2]": default
+      "process_monitor: High-load Proc[3]": default
+      "process_monitor: High-load Proc[4]": default
+      "process_monitor: Tasks Summary": default
+      "voltage_monitor: CMOS Battery Status": default
 
+      # vehicle
       # vehicle_errors: default
       # pacmod_errors: default
       # pacmod_accel_brake_fault: default
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 9ea4c5f104..81256ed2e3 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
-  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware.yaml"/>
+  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
 
   <!-- Depending on the sensor_model, different topics should be monitored -->
   <let name="state_monitor_topic_yaml" value="topics_gen2.yaml" if="$(eval &quot;'aip_xx1_gen2' == '$(var sensor_model)'&quot;)"/>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 3609b32c2d..50b7e4ff3b 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -68,7 +68,7 @@
       <arg name="system_run_mode" value="logging_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>