diff --git a/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json
new file mode 100644
index 0000000000000..3e7807afdef81
--- /dev/null
+++ b/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json
@@ -0,0 +1,44 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "approximate_downsample_filter",
+    "type": "object",
+    "definitions": {
+      "approximate_downsample_filter": {
+        "type": "object",
+        "properties": {
+          "voxel_size_x": {
+            "type": "number",
+            "description": "voxel size x [m]",
+            "default": "0.3"
+          },
+          "voxel_size_y": {
+            "type": "number",
+            "description": "voxel size y [m]",
+            "default": "0.3"
+          },
+          "voxel_size_z": {
+            "type": "number",
+            "description": "voxel size z [m]",
+            "default": "0.1"
+          }
+        },
+        "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/approximate_downsample_filter"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+  }
+  
\ No newline at end of file
diff --git a/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json b/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json
new file mode 100644
index 0000000000000..8aaa1c1e54eb6
--- /dev/null
+++ b/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json
@@ -0,0 +1,39 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "distortion_corrector",
+    "type": "object",
+    "definitions": {
+      "distortion_corrector": {
+        "type": "object",
+        "properties": {
+          "time_stamp_field_name": {
+            "type": "string",
+            "description": "time stamp field name",
+            "default": "time_stamp"
+          },
+          "use_imu": {
+            "type": "boolean",
+            "description": "use gyroscope for yaw rate if true, else use vehicle status",
+            "default": "true"
+          }
+        },
+        "required": ["time_stamp_field_name", "use_imu"],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/distortion_corrector"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+  }
+  
\ No newline at end of file
diff --git a/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json b/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json
new file mode 100644
index 0000000000000..788949efee01d
--- /dev/null
+++ b/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json
@@ -0,0 +1,39 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "lanelet2_map_filter",
+    "type": "object",
+    "definitions": {
+      "lanelet2_map_filter": {
+        "type": "object",
+        "properties": {
+          "voxel_size_x": {
+            "type": "number",
+            "description": "voxel size",
+            "default": "0.04"
+          },
+          "voxel_size_y": {
+            "type": "number",
+            "description": "voxel size",
+            "default": "0.04"
+          }
+        },
+        "required": ["voxel_size_x", "voxel_size_y"],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/lanelet2_map_filter"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+  }
+  
\ No newline at end of file
diff --git a/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json
new file mode 100644
index 0000000000000..e69de29bb2d1d