diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json b/perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json
index d31f77bf27968..5db23134a720d 100644
--- a/perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json
+++ b/perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json
@@ -1,9 +1,9 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "Parameters for occupancy_grid_map_outlier",
+  "title": "autoware_occupancy_grid_map_outlier_filter parameters",
   "type": "object",
   "definitions": {
-    "occupancy_grid_map_outlier": {
+    "occupancy_grid_map_outlier_filter": {
       "type": "object",
       "properties": {
         "radius_search_2d_filter.search_radius": {
@@ -76,7 +76,7 @@
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/definitions/occupancy_grid_map_outlier"
+          "$ref": "#/definitions/occupancy_grid_map_outlier_filter"
         }
       },
       "required": ["ros__parameters"]
diff --git a/sensing/autoware_pointcloud_preprocessor/README.md b/sensing/autoware_pointcloud_preprocessor/README.md
index 4424259a52daa..dccd890becc8d 100644
--- a/sensing/autoware_pointcloud_preprocessor/README.md
+++ b/sensing/autoware_pointcloud_preprocessor/README.md
@@ -43,16 +43,23 @@ Detail description of each filter's algorithm is in the following links.
 
 ## Parameters
 
-### 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("sensing/autoware_pointcloud_preprocessor/schema/approximate_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_Filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pointcloud_accumulator_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/radius_search_2d_outlier_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_downsample_filter_node.schema.json") }}
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter_node.schema.json") }}
 
 ## Assumptions / Known limits
 
diff --git a/sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json
index cdca58a6a73f0..21a4fad8bcc51 100644
--- a/sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json
+++ b/sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json
@@ -34,12 +34,12 @@
         "enable_dust_diag": {
           "type": "boolean",
           "description": "enable dust diagnostic",
-          "default": "false"
+          "default": false
         },
         "publish_debug_image": {
           "type": "boolean",
           "description": "publish debug image",
-          "default": "false"
+          "default": false
         },
         "dust_ratio_threshold": {
           "type": "number",
@@ -111,7 +111,7 @@
         "is_channel_order_top2down": {
           "type": "boolean",
           "description": "If the lidar channels are indexed from top to down",
-          "default": "true"
+          "default": true
         },
         "horizontal_ring_id": {
           "type": "integer",
diff --git a/sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json
index ead8137142da0..7084c6197bf69 100644
--- a/sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json
+++ b/sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json
@@ -9,13 +9,13 @@
         "filter_limit_min": {
           "type": "integer",
           "description": "minimum allowed field value",
-          "default": "0",
+          "default": 0,
           "minimum": 0
         },
         "filter_limit_max": {
           "type": "integer",
           "description": "maximum allowed field value",
-          "default": "127",
+          "default": 127,
           "minimum": 0
         },
         "filter_field_name": {
@@ -26,12 +26,12 @@
         "keep_organized": {
           "type": "boolean",
           "description": "flag to keep indices structure",
-          "default": "false"
+          "default": false
         },
         "filter_limit_negative": {
           "type": "boolean",
           "description": "flag to return whether the data is inside limit or not",
-          "default": "false"
+          "default": false
         }
       },
       "required": [
diff --git a/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
index 320b9d30c9dd5..dbedba6871488 100644
--- a/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
+++ b/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
@@ -9,19 +9,19 @@
         "voxel_size_x": {
           "type": "number",
           "description": "voxel size along the x-axis [m]",
-          "default": "1.0",
+          "default": 1.0,
           "exclusiveMinimum": 0.0
         },
         "voxel_size_y": {
           "type": "number",
           "description": "voxel size along the y-axis [m]",
-          "default": "1.0",
+          "default": 1.0,
           "exclusiveMinimum": 0.0
         },
         "voxel_size_z": {
           "type": "number",
           "description": "voxel size along the z-axis [m]",
-          "default": "1.0",
+          "default": 1.0,
           "exclusiveMinimum": 0.0
         }
       },