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 0ed824d3c8..3017fe3936 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
@@ -32,5 +32,14 @@
       "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
 
       # perception
-      ## /autoware/perception/topic_rate_check/pointcloud
+      ## /perception/001-topic_status/traffic_signals
+      "topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status": default
+
+      ## /perception/001-topic_status/objects
+      "topic_state_monitor_object_recognition_objects: perception_topic_status": default
+
+      ## /perception/001-topic_status/pointcloud
       "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default
+
+      ## /perception/002-detection_delay
+      "multi_object_tracker: Perception delay check from original header stamp": default
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
index fbbfe384f2..9f20b5873e 100644
--- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
+++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
@@ -4,6 +4,7 @@ files:
   - { path: $(dirname)/map.yaml }
   - { path: $(dirname)/perception.yaml }
   - { path: $(dirname)/planning.yaml }
+  # - { path: $(dirname)/sensing.yaml }
   - { path: $(dirname)/system.yaml }
   - { path: $(dirname)/vehicle.yaml }
 
@@ -31,7 +32,7 @@ units:
       - { type: link, link: /autoware/map }
       - { type: link, link: /autoware/localization }
       - { type: link, link: /autoware/planning }
-      - { type: link, link: /autoware/perception }
+      - { type: link, link: /perception/autonomous_available }
       - { type: link, link: /autoware/control }
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
@@ -42,7 +43,7 @@ units:
       - { type: link, link: /autoware/map }
       - { type: link, link: /autoware/localization }
       - { type: link, link: /autoware/planning }
-      - { type: link, link: /autoware/perception }
+      - { type: link, link: /perception/pull_over_available }
       - { type: link, link: /autoware/control }
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
@@ -53,7 +54,7 @@ units:
       - { type: link, link: /autoware/map }
       - { type: link, link: /autoware/localization }
       - { type: link, link: /autoware/planning }
-      - { type: link, link: /autoware/perception }
+      - { type: link, link: /perception/comfortable_stop_available }
       - { type: link, link: /autoware/control }
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml
index 24e3c4eed5..273e7ada84 100644
--- a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml
+++ b/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml
@@ -1,16 +1,86 @@
 units:
-  - path: /autoware/perception
+  - path: /perception/autonomous_available
     type: and
     list:
-      - { type: link, link: /autoware/perception/topic_rate_check/objects }
-      - { type: link, link: /autoware/perception/topic_rate_check/pointcloud }
+      - { type: link, link: /perception/emergency_stop }
+      - { type: link, link: /perception/pull_over }
+      - { type: link, link: /perception/comfortable_stop }
 
-  - path: /autoware/perception/topic_rate_check/objects
+  - 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
+
+  - path: /perception/001-topic_status/traffic_signals-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /perception/001-topic_status/traffic_signals
+
+  - path: /perception/001-topic_status/objects-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /perception/001-topic_status/objects
+
+  - path: /perception/001-topic_status/pointcloud-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /perception/001-topic_status/pointcloud
+
+  - path: /perception/002-detection_delay-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /perception/002-detection_delay
+
+  - path: /perception/001-topic_status/traffic_signals
+    type: diag
+    node: topic_state_monitor_traffic_light_recognition_traffic_signals
+    name: perception_topic_status
+    timeout: 1.0
+
+  - path: /perception/001-topic_status/objects
     type: diag
     node: topic_state_monitor_object_recognition_objects
     name: perception_topic_status
+    timeout: 1.0
 
-  - path: /autoware/perception/topic_rate_check/pointcloud
+  - path: /perception/001-topic_status/pointcloud
     type: diag
     node: topic_state_monitor_obstacle_segmentation_pointcloud
     name: perception_topic_status
+    timeout: 1.0
+
+  - path: /perception/002-detection_delay
+    type: diag
+    node: multi_object_tracker
+    name: Perception delay check from original header stamp
+    timeout: 1.0
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml b/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml
new file mode 100644
index 0000000000..2800d483d8
--- /dev/null
+++ b/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml
@@ -0,0 +1,35 @@
+units:
+  - 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
+      # - { type: link, link: /sensing/radar/001-connection }
+
+  - path: /sensing/pull_over
+    type: and
+
+  - path: /sensing/comfortable_stop
+    type: and
+
+  - path: /sensing/none
+    type: and
+