diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
index 8dfa9f5e..034af700 100644
--- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -37,4 +37,10 @@
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
+
+  <!-- Velodyne Monitor -->
+  <include file="$(find-pkg-share velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
+    <arg name="ip_address" value="$(var device_ip)" />
+  </include>
+
 </launch>
diff --git a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
index 656be7c5..12a8f166 100644
--- a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
@@ -37,4 +37,10 @@
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
+
+  <!-- Velodyne Monitor -->
+  <include file="$(find-pkg-share velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
+    <arg name="ip_address" value="$(var device_ip)" />
+  </include>
+
 </launch>
diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
index e9a16f16..a705cf88 100644
--- a/common_sensor_launch/launch/velodyne_VLS128.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -37,4 +37,10 @@
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
+
+  <!-- Velodyne Monitor -->
+  <include file="$(find-pkg-share velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
+    <arg name="ip_address" value="$(var device_ip)" />
+  </include>
+
 </launch>
diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml
index 154ecec5..179c269b 100644
--- a/common_sensor_launch/package.xml
+++ b/common_sensor_launch/package.xml
@@ -12,6 +12,7 @@
 
   <exec_depend>dummy_diag_publisher</exec_depend>
   <exec_depend>nebula_sensor_driver</exec_depend>
+  <exec_depend>velodyne_monitor</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>