diff --git a/sensing/autoware_pointcloud_preprocessor/README.md b/sensing/autoware_pointcloud_preprocessor/README.md
index 4424259a52daa..c0cda373b75bb 100644
--- a/sensing/autoware_pointcloud_preprocessor/README.md
+++ b/sensing/autoware_pointcloud_preprocessor/README.md
@@ -45,14 +45,7 @@ Detail description of each filter's algorithm is in the following links.
 
 ### Node Parameters
 
-| Name               | Type   | Default Value | Description                           |
-| ------------------ | ------ | ------------- | ------------------------------------- |
-| `input_frame`      | string | " "           | input frame id                        |
-| `output_frame`     | string | " "           | output frame id                       |
-| `max_queue_size`   | int    | 5             | max queue size of input/output topics |
-| `use_indices`      | bool   | false         | flag to use pointcloud indices        |
-| `latched_indices`  | bool   | false         | flag to latch pointcloud indices      |
-| `approximate_sync` | bool   | false         | flag to use approximate sync option   |
+{{ json_to_markdown("schema/filter.schema.json") }}
 
 ## Assumptions / Known limits
 
diff --git a/sensing/autoware_pointcloud_preprocessor/config/filter.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/filter.param.yaml
new file mode 100644
index 0000000000000..abd396892239e
--- /dev/null
+++ b/sensing/autoware_pointcloud_preprocessor/config/filter.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    input_frame: ""
+    output_frame: ""
+    max_queue_size: 5
+    use_indices: false
+    latched_indices: false
+    approximate_sync: false
diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp
index b39be3cfaf9e5..ef44e41175bb5 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp
@@ -221,7 +221,7 @@ class Filter : public rclcpp::Node
    * ~indices topics must be synchronised in time, either exact or within a
    * specified jitter. See also @ref latched_indices_ and approximate_sync.
    **/
-  bool use_indices_ = false;
+  bool use_indices_;
   /** \brief Set to true if the indices topic is latched.
    *
    * If use_indices_ is true, the ~input and ~indices topics generally must
@@ -229,14 +229,14 @@ class Filter : public rclcpp::Node
    * value from ~indices can be used instead of requiring a synchronised
    * message.
    **/
-  bool latched_indices_ = false;
+  bool latched_indices_;
 
   /** \brief The maximum queue size (default: 3). */
-  size_t max_queue_size_ = 3;
+  size_t max_queue_size_;
 
   /** \brief True if we use an approximate time synchronizer
    * versus an exact one (false by default). */
-  bool approximate_sync_ = false;
+  bool approximate_sync_;
 
   std::unique_ptr<autoware::universe_utils::ManagedTransformBuffer> managed_tf_buffer_{nullptr};
 
diff --git a/sensing/autoware_pointcloud_preprocessor/schema/filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/filter.schema.json
new file mode 100644
index 0000000000000..50468edd5912c
--- /dev/null
+++ b/sensing/autoware_pointcloud_preprocessor/schema/filter.schema.json
@@ -0,0 +1,66 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Filter Class",
+  "type": "object",
+  "definitions": {
+    "filter": {
+      "type": "object",
+      "properties": {
+        "input_frame": {
+          "type": "string",
+          "description": "input frame id",
+          "default": ""
+        },
+        "output_frame": {
+          "type": "string",
+          "description": "output frame id",
+          "default": ""
+        },
+        "max_queue_size": {
+          "type": "integer",
+          "minimum": 0,
+          "description": "max queue size of input/output topics",
+          "default": 5
+        },
+        "use_indices": {
+          "type": "boolean",
+          "description": "flag to use pointcloud indices",
+          "default": false
+        },
+        "latched_indices": {
+          "type": "boolean",
+          "description": "flag to latch pointcloud indices",
+          "default": false
+        },
+        "approximate_sync": {
+          "type": "boolean",
+          "description": "flag to use approximate sync option",
+          "default": false
+        }
+      },
+      "required": [
+        "input_frame",
+        "output_frame",
+        "max_queue_size",
+        "use_indices",
+        "latched_indices",
+        "approximate_sync"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/sensing/autoware_pointcloud_preprocessor/src/filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp
index 62495fc8b70cb..8fe08b465c1ec 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/filter.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp
@@ -70,15 +70,15 @@ autoware::pointcloud_preprocessor::Filter::Filter(
 {
   // Set parameters (moved from NodeletLazy onInit)
   {
-    tf_input_frame_ = static_cast<std::string>(declare_parameter("input_frame", ""));
-    tf_output_frame_ = static_cast<std::string>(declare_parameter("output_frame", ""));
+    tf_input_frame_ = declare_parameter<std::string>("input_frame");
+    tf_output_frame_ = declare_parameter<std::string>("output_frame");
+    max_queue_size_ = static_cast<size_t>(declare_parameter<int64_t>("max_queue_size"));
     has_static_tf_only_ = static_cast<bool>(declare_parameter("has_static_tf_only", false));
-    max_queue_size_ = static_cast<std::size_t>(declare_parameter("max_queue_size", 5));
 
     // ---[ Optional parameters
-    use_indices_ = static_cast<bool>(declare_parameter("use_indices", false));
-    latched_indices_ = static_cast<bool>(declare_parameter("latched_indices", false));
-    approximate_sync_ = static_cast<bool>(declare_parameter("approximate_sync", false));
+    use_indices_ = declare_parameter<bool>("use_indices");
+    latched_indices_ = declare_parameter<bool>("latched_indices");
+    approximate_sync_ = declare_parameter<bool>("approximate_sync");
 
     RCLCPP_DEBUG_STREAM(
       this->get_logger(),