diff --git a/system_launch/config/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor.planning_simulation.param.yaml
deleted file mode 100644
index ce081b75b2..0000000000
--- a/system_launch/config/system_error_monitor.planning_simulation.param.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-# Description:
-#   name: diag name
-#   sf_at: diag level where it becomes Safe Fault
-#   lf_at: diag level where it becomes Latent Fault
-#   spf_at: diag level where it becomes Single Point Fault
-#   auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
-#
-# Note:
-# empty-value for sf_at, lf_at and spf_at is "none"
-# default values are:
-#   sf_at: "none"
-#   lf_at: "warn"
-#   spf_at: "error"
-#   auto_recovery: "true"
----
-/**:
-  ros__parameters:
-    required_modules:
-      autonomous_driving:
-        /autoware/control/autonomous_driving/node_alive_monitoring: default
-        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-
-        /autoware/localization/node_alive_monitoring: default
-        # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        # /autoware/localization/performance_monitoring/localization_accuracy: default
-
-        /autoware/map/node_alive_monitoring: default
-
-        /autoware/perception/node_alive_monitoring: default
-
-        /autoware/planning/node_alive_monitoring: default
-        /autoware/planning/performance_monitoring/trajectory_validation: default
-
-        /autoware/sensing/node_alive_monitoring: default
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-        # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
-
-        /autoware/vehicle/node_alive_monitoring: default
-
-      external_control:
-        /autoware/control/control_command_gate/node_alive_monitoring: default
-        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
-
-        /autoware/system/node_alive_monitoring: default
-        /autoware/system/emergency_stop_operation: default
-
-        /autoware/vehicle/node_alive_monitoring: default
diff --git a/system_launch/launch/dummy_diag_publisher/control.launch.xml b/system_launch/launch/dummy_diag_publisher/control.launch.xml
new file mode 100644
index 0000000000..b93a93d927
--- /dev/null
+++ b/system_launch/launch/dummy_diag_publisher/control.launch.xml
@@ -0,0 +1,7 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="joy_controller_connection"/>
+  </include>
+
+</launch>
diff --git a/system_launch/launch/dummy_diag_publisher/localization.launch.xml b/system_launch/launch/dummy_diag_publisher/localization.launch.xml
new file mode 100644
index 0000000000..19f70a723d
--- /dev/null
+++ b/system_launch/launch/dummy_diag_publisher/localization.launch.xml
@@ -0,0 +1,11 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="localization_accuracy"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="ndt_scan_matcher"/>
+  </include>
+
+</launch>
diff --git a/system_launch/launch/dummy_diag_publisher/system.launch.xml b/system_launch/launch/dummy_diag_publisher/system.launch.xml
new file mode 100644
index 0000000000..164dfe2e12
--- /dev/null
+++ b/system_launch/launch/dummy_diag_publisher/system.launch.xml
@@ -0,0 +1,91 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="bagpacker"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="NTP Offset"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Temperature"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Thermal Throttling"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Frequency"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Load Average"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Temperature"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Memory Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Thermal Throttling"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Memory Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Network Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Network Traffic"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD Temperature"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Network Traffic"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD PowerOnHours"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD TotalDataWritten"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="High-load"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="High-mem"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Tasks Summary"/>
+  </include>
+
+</launch>
diff --git a/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml b/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml
new file mode 100644
index 0000000000..3848c9e7e9
--- /dev/null
+++ b/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml
@@ -0,0 +1,7 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="vehicle_errors"/>
+  </include>
+
+</launch>
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
index f1986499ce..88aaca8527 100644
--- a/system_launch/launch/system.launch.xml
+++ b/system_launch/launch/system.launch.xml
@@ -9,7 +9,7 @@
     <push-ros-namespace namespace="/system"/>
 
     <!-- System Monitor -->
-    <group>
+    <group if="$(eval &quot;'$(var run_mode)'=='online'&quot;)">
       <push-ros-namespace namespace="system_monitor"/>
       <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.py">
         <arg name="cpu_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/cpu_monitor.param.yaml"/>
@@ -30,8 +30,7 @@
     </include>
 
     <!-- Error Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
+    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
     <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
       <arg name="config_file" value="$(var config_file)" />
       <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
@@ -45,5 +44,15 @@
       <arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
     </include>
 
+    <!-- Dummy Diag Publisher -->
+    <group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">
+      <push-ros-namespace namespace="dummy_diag_publisher"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/control.launch.xml"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/localization.launch.xml"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/system.launch.xml"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/vehicle.launch.xml"/>
+      <include file="$(var sensor_launch_pkg)/launch/dummy_diag_publisher/sensing.launch.xml"/>
+    </group>
+
   </group>
 </launch>