diff --git a/perception/autoware_multi_object_tracker/schema/data_association_matrix.schema.json b/perception/autoware_multi_object_tracker/schema/data_association_matrix.schema.json
index daf9d9f957b7c..3235ba5f5ea2a 100644
--- a/perception/autoware_multi_object_tracker/schema/data_association_matrix.schema.json
+++ b/perception/autoware_multi_object_tracker/schema/data_association_matrix.schema.json
@@ -11,42 +11,80 @@
           "description": "Assignment table for data association.",
           "items": {
             "type": "integer"
-          }
+          },
+          "default": [
+            1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1,
+            0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0,
+            0, 0, 0, 1, 1, 1
+          ]
         },
         "max_dist_matrix": {
           "type": "array",
           "description": "Maximum distance table for data association.",
           "items": {
             "type": "number"
-          }
+          },
+          "default": [
+            4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 4.0,
+            2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 4.0, 2.0,
+            5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 3.0, 1.0, 1.0,
+            1.0, 1.0, 3.0, 3.0, 2.0, 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0
+          ]
         },
         "max_area_matrix": {
           "type": "array",
           "description": "Maximum area table for data association.",
           "items": {
             "type": "number"
-          }
+          },
+          "default": [
+            100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 12.1, 12.1, 36.0, 60.0, 60.0,
+            10000.0, 10000.0, 10000.0, 36.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0,
+            60.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0, 60.0, 12.1, 36.0, 60.0, 60.0,
+            10000.0, 10000.0, 10000.0, 2.5, 10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0, 2.5,
+            10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0, 2.0, 10000.0, 10000.0, 10000.0,
+            10000.0, 1.5, 1.5, 1.0
+          ]
         },
         "min_area_matrix": {
           "type": "array",
           "description": "Minimum area table for data association.",
           "items": {
             "type": "number"
-          }
+          },
+          "default": [
+            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.6, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 6.0,
+            3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 10.0, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 10.0,
+            3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1, 0.001,
+            0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1, 0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1
+          ]
         },
         "max_rad_matrix": {
           "type": "array",
           "description": "Maximum angle table for data association.",
           "items": {
             "type": "number"
-          }
+          },
+          "default": [
+            3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15,
+            3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047,
+            1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15,
+            3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15,
+            3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15
+          ]
         },
         "min_iou_matrix": {
           "type": "array",
           "description": "A matrix that represents the minimum Intersection over Union (IoU) limit allowed for assignment.",
           "items": {
             "type": "number"
-          }
+          },
+          "default": [
+            0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.1,
+            0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2,
+            0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1,
+            0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001
+          ]
         }
       },
       "required": [
diff --git a/perception/autoware_multi_object_tracker/schema/input_channels.schema.json b/perception/autoware_multi_object_tracker/schema/input_channels.schema.json
index 3c3da4d3f70a0..96f612828b597 100644
--- a/perception/autoware_multi_object_tracker/schema/input_channels.schema.json
+++ b/perception/autoware_multi_object_tracker/schema/input_channels.schema.json
@@ -41,18 +41,138 @@
             "input_channels": {
               "type": "object",
               "properties": {
-                "detected_objects": { "$ref": "#/definitions/input_channel" },
-                "lidar_clustering": { "$ref": "#/definitions/input_channel" },
-                "lidar_centerpoint": { "$ref": "#/definitions/input_channel" },
-                "lidar_centerpoint_validated": { "$ref": "#/definitions/input_channel" },
-                "lidar_apollo": { "$ref": "#/definitions/input_channel" },
-                "lidar_apollo_validated": { "$ref": "#/definitions/input_channel" },
-                "lidar_pointpainitng": { "$ref": "#/definitions/input_channel" },
-                "lidar_pointpainting_validated": { "$ref": "#/definitions/input_channel" },
-                "camera_lidar_fusion": { "$ref": "#/definitions/input_channel" },
-                "detection_by_tracker": { "$ref": "#/definitions/input_channel" },
-                "radar": { "$ref": "#/definitions/input_channel" },
-                "radar_far": { "$ref": "#/definitions/input_channel" }
+                "detected_objects": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/perception/object_recognition/detection/objects",
+                    "can_spawn_new_tracker": true,
+                    "optional": {
+                      "name": "detected_objects",
+                      "short_name": "all"
+                    }
+                  }
+                },
+                "lidar_clustering": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/perception/object_recognition/detection/clustering/objects",
+                    "can_spawn_new_tracker": true,
+                    "optional": {
+                      "name": "clustering",
+                      "short_name": "Lcl"
+                    }
+                  }
+                },
+                "lidar_centerpoint": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/perception/object_recognition/detection/centerpoint/objects",
+                    "can_spawn_new_tracker": true,
+                    "optional": {
+                      "name": "centerpoint",
+                      "short_name": "Lcp"
+                    }
+                  }
+                },
+                "lidar_centerpoint_validated": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/perception/object_recognition/detection/centerpoint/validation/objects",
+                    "can_spawn_new_tracker": true,
+                    "optional": {
+                      "name": "centerpoint",
+                      "short_name": "Lcp"
+                    }
+                  }
+                },
+                "lidar_apollo": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/perception/object_recognition/detection/apollo/objects",
+                    "can_spawn_new_tracker": true,
+                    "optional": {
+                      "name": "apollo",
+                      "short_name": "Lap"
+                    }
+                  }
+                },
+                "lidar_apollo_validated": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/perception/object_recognition/detection/apollo/validation/objects",
+                    "can_spawn_new_tracker": true,
+                    "optional": {
+                      "name": "apollo",
+                      "short_name": "Lap"
+                    }
+                  }
+                },
+                "lidar_pointpainitng": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/perception/object_recognition/detection/pointpainting/objects",
+                    "can_spawn_new_tracker": true,
+                    "optional": {
+                      "name": "pointpainting",
+                      "short_name": "Lpp"
+                    }
+                  }
+                },
+                "lidar_pointpainting_validated": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/perception/object_recognition/detection/pointpainting/validation/objects",
+                    "can_spawn_new_tracker": true,
+                    "optional": {
+                      "name": "pointpainting",
+                      "short_name": "Lpp"
+                    }
+                  }
+                },
+                "camera_lidar_fusion": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects",
+                    "can_spawn_new_tracker": true,
+                    "optional": {
+                      "name": "camera_lidar_fusion",
+                      "short_name": "CLf"
+                    }
+                  }
+                },
+                "detection_by_tracker": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/perception/object_recognition/detection/detection_by_tracker/objects",
+                    "can_spawn_new_tracker": false,
+                    "optional": {
+                      "name": "detection_by_tracker",
+                      "short_name": "dbT"
+                    }
+                  }
+                },
+                "radar": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/sensing/radar/detected_objects",
+                    "can_spawn_new_tracker": true,
+                    "optional": {
+                      "name": "radar",
+                      "short_name": "R"
+                    }
+                  }
+                },
+                "radar_far": {
+                  "$ref": "#/definitions/input_channel",
+                  "default": {
+                    "topic": "/perception/object_recognition/detection/radar/far_objects",
+                    "can_spawn_new_tracker": true,
+                    "optional": {
+                      "name": "radar_far",
+                      "short_name": "Rf"
+                    }
+                  }
+                }
               },
               "required": [
                 "detected_objects",