diff --git a/build_depends.repos b/build_depends.repos
index 8e7351482..6b7e58ff7 100644
--- a/build_depends.repos
+++ b/build_depends.repos
@@ -8,4 +8,4 @@ repositories:
   ros2_socketcan:
     type: git
     url: https://github.com/knzo25/ros2_socketcan
-    version: feat/continental_fd
\ No newline at end of file
+    version: feat/continental_fd
diff --git a/nebula_ros/launch/continental_launch_all_hw.xml b/nebula_ros/launch/continental_launch_all_hw.xml
index 9e9ffe421..0255e89f9 100644
--- a/nebula_ros/launch/continental_launch_all_hw.xml
+++ b/nebula_ros/launch/continental_launch_all_hw.xml
@@ -17,7 +17,7 @@
             <remap from="steering_angle_input" to="$(var steering_angle_topic)"/>
         </node>
     </group>
-    
+
     <group if="$(eval &quot;'$(var sensor_model)' == 'SRR520' &quot;)" >
 
         <node pkg="nebula_ros" exec="continental_srr520_ros_wrapper_node" name="nebula_continental_srr520" output="screen">
diff --git a/nebula_ros/schema/PandarAT128.schema.json b/nebula_ros/schema/PandarAT128.schema.json
index 7b138055a..d3aea4059 100644
--- a/nebula_ros/schema/PandarAT128.schema.json
+++ b/nebula_ros/schema/PandarAT128.schema.json
@@ -44,19 +44,19 @@
         },
         "cloud_min_angle": {
           "$ref": "sub/misc.json#/definitions/cloud_min_angle",
-          "default": 30,
+          "default": "30",
           "minimum": 30,
           "maximum": 150
         },
         "cloud_max_angle": {
           "$ref": "sub/misc.json#/definitions/cloud_max_angle",
-          "default": 150,
+          "default": "150",
           "minimum": 30,
           "maximum": 150
         },
         "scan_phase": {
           "$ref": "sub/misc.json#/definitions/scan_phase",
-          "default": 30.0,
+          "default": "30.0",
           "minimum": 30.0,
           "maximum": 150.0
         },
@@ -68,7 +68,7 @@
         },
         "rotation_speed": {
           "$ref": "sub/hardware.json#/definitions/rotation_speed",
-          "default": 200,
+          "default": "200",
           "enum": [
             200,
             400
diff --git a/nebula_ros/schema/SRR520.schema.json b/nebula_ros/schema/SRR520.schema.json
index 19356adff..0c3004a64 100644
--- a/nebula_ros/schema/SRR520.schema.json
+++ b/nebula_ros/schema/SRR520.schema.json
@@ -60,10 +60,14 @@
           "$ref": "#/definitions/SRR520"
         }
       },
-      "required": ["ros__parameters"],
+      "required": [
+        "ros__parameters"
+      ],
       "additionalProperties": false
     }
   },
-  "required": ["/**"],
+  "required": [
+    "/**"
+  ],
   "additionalProperties": false
 }
diff --git a/nebula_ros/schema/example.schema.template.json b/nebula_ros/schema/example.schema.template.json
index 19d39dfc9..eef5ca4e2 100644
--- a/nebula_ros/schema/example.schema.template.json
+++ b/nebula_ros/schema/example.schema.template.json
@@ -8,7 +8,7 @@
       "properties": {
         "example_parameter_1": {
           "type": "integer",
-          "default": 42,
+          "default": "42",
           "readOnly": true,
           "description": "Exclusive parameter only for this sensor model."
         },
diff --git a/nebula_ros/schema/sub/communication.json b/nebula_ros/schema/sub/communication.json
index b01c22e06..3823e1e97 100644
--- a/nebula_ros/schema/sub/communication.json
+++ b/nebula_ros/schema/sub/communication.json
@@ -5,21 +5,21 @@
   "definitions": {
     "configuration_host_port": {
       "type": "integer",
-      "default": 42401,
+      "default": "42401",
       "minimum": 0,
       "readOnly": true,
       "description": "Host configuration port."
     },
     "configuration_sensor_port": {
       "type": "integer",
-      "default": 42101,
+      "default": "42101",
       "minimum": 0,
       "readOnly": true,
       "description": "Sensor configuration port."
     },
     "data_port": {
       "type": "integer",
-      "default": 2368,
+      "default": "2368",
       "minimum": 0,
       "readOnly": true,
       "description": "Sensor data port."
@@ -31,7 +31,7 @@
     },
     "gnss_port": {
       "type": "integer",
-      "default": 2369,
+      "default": "2369",
       "minimum": 0,
       "readOnly": true,
       "description": "GNSS port."
@@ -57,7 +57,7 @@
     },
     "packet_mtu_size": {
       "type": "integer",
-      "default": 1500,
+      "default": "1500",
       "minimum": 0,
       "readOnly": true,
       "description": "Packet MTU size."
@@ -72,12 +72,16 @@
     "ptp_profile": {
       "type": "string",
       "default": "1588v2",
-      "enum": ["1588v2", "802.1as", "automotive"],
+      "enum": [
+        "1588v2",
+        "802.1as",
+        "automotive"
+      ],
       "description": "PTP profile."
     },
     "ptp_domain": {
       "type": "integer",
-      "default": 0,
+      "default": "0",
       "minimum": 0,
       "maximum": 127,
       "description": "PTP domain (PTP operates within a logical scope)."
@@ -85,24 +89,30 @@
     "ptp_transport_type": {
       "type": "string",
       "default": "UDP",
-      "enum": ["UDP", "L2"],
+      "enum": [
+        "UDP",
+        "L2"
+      ],
       "description": "1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)."
     },
     "ptp_switch_type": {
       "type": "string",
       "default": "TSN",
-      "enum": ["TSN", "NON_TSN"],
+      "enum": [
+        "TSN",
+        "NON_TSN"
+      ],
       "description": "For automotive profile,'TSN' or 'NON_TSN'."
     },
     "receiver_timeout_sec": {
       "type": "number",
-      "default": 0.03,
+      "default": "0.03",
       "minimum": 0.0,
       "description": "Timeout for reading data from the CAN bus."
     },
     "sender_timeout_sec": {
       "type": "number",
-      "default": 0.01,
+      "default": "0.01",
       "minimum": 0.0,
       "description": "Timeout for sending data to the CAN bus."
     }
diff --git a/nebula_ros/schema/sub/hardware.json b/nebula_ros/schema/sub/hardware.json
index 21073acc2..ea1b17586 100644
--- a/nebula_ros/schema/sub/hardware.json
+++ b/nebula_ros/schema/sub/hardware.json
@@ -5,7 +5,8 @@
   "definitions": {
     "launch_hw": {
       "type": "boolean",
-      "readOnly": false,
+      "default": "true",
+      "readOnly": true,
       "description": "Whether network sockets should be opened or not. If disabled, replay from NebulaPackets messages is enabled automatically."
     },
     "rotation_speed": {
@@ -19,13 +20,13 @@
     },
     "setup_sensor": {
       "type": "boolean",
-      "default": true,
+      "default": "true",
       "readOnly": true,
       "description": "Enable sensor setup on hardware driver."
     },
     "retry_hw": {
       "type": "boolean",
-      "default": true,
+      "default": "true",
       "description": "Whether TCP connections are retried on failure or the driver should instead exit."
     }
   }
diff --git a/nebula_ros/schema/sub/lidar_hesai.json b/nebula_ros/schema/sub/lidar_hesai.json
index ef374da50..2a74eb481 100644
--- a/nebula_ros/schema/sub/lidar_hesai.json
+++ b/nebula_ros/schema/sub/lidar_hesai.json
@@ -22,12 +22,12 @@
     },
     "gnss_port": {
       "$ref": "communication.json#/definitions/gnss_port",
-      "default": 10110,
+      "default": "10110",
       "minimum": 0
     },
     "rotation_speed": {
       "$ref": "hardware.json#/definitions/rotation_speed",
-      "default": 600,
+      "default": "600",
       "minimum": 300,
       "maximum": 1200,
       "multipleOf": 60
diff --git a/nebula_ros/schema/sub/lidar_velodyne.json b/nebula_ros/schema/sub/lidar_velodyne.json
index 182952696..dbb9f2c96 100644
--- a/nebula_ros/schema/sub/lidar_velodyne.json
+++ b/nebula_ros/schema/sub/lidar_velodyne.json
@@ -26,7 +26,7 @@
     },
     "rotation_speed": {
       "$ref": "hardware.json#/definitions/rotation_speed",
-      "default": 600,
+      "default": "600",
       "minimum": 300,
       "maximum": 1200,
       "multipleOf": 60
diff --git a/nebula_ros/schema/sub/misc.json b/nebula_ros/schema/sub/misc.json
index 3164b998e..8aebfbc65 100644
--- a/nebula_ros/schema/sub/misc.json
+++ b/nebula_ros/schema/sub/misc.json
@@ -16,62 +16,62 @@
     },
     "cloud_max_angle": {
       "type": "integer",
-      "default": 360,
+      "default": "360",
       "minimum": 0,
       "maximum": 360,
       "description": "Field of View, end degrees."
     },
     "cloud_min_angle": {
       "type": "integer",
-      "default": 0,
+      "default": "0",
       "minimum": 0,
       "maximum": 360,
       "description": "Field of View, start degrees."
     },
     "configuration_vehicle_height": {
       "type": "number",
-      "default": 2.5,
+      "default": "2.5",
       "minimum": 0.0,
       "readOnly": true,
       "description": "New vehicle height."
     },
     "configuration_vehicle_length": {
       "type": "number",
-      "default": 4.9,
+      "default": "4.9",
       "minimum": 0.0,
       "readOnly": true,
       "description": "New vehicle length."
     },
     "configuration_vehicle_wheelbase": {
       "type": "number",
-      "default": 2.8,
+      "default": "2.8",
       "minimum": 0.0,
       "readOnly": true,
       "description": "New vehicle wheelbase."
     },
     "configuration_vehicle_width": {
       "type": "number",
-      "default": 1.9,
+      "default": "1.9",
       "minimum": 0.0,
       "readOnly": true,
       "description": "New vehicle width."
     },
     "dual_return_distance_threshold": {
       "type": "number",
-      "default": 0.1,
+      "default": "0.1",
       "minimum": 0.01,
       "maximum": 0.5,
       "description": "Distance threshold between two neighboring points for dual return mode."
     },
     "max_range": {
       "type": "number",
-      "default": 300.0,
+      "default": "300.0",
       "minimum": 0.0,
       "description": "Sensor maximum single point range."
     },
     "min_range": {
       "type": "number",
-      "default": 0.3,
+      "default": "0.3",
       "minimum": 0.0,
       "description": "Sensor minimum single point range."
     },
@@ -81,7 +81,7 @@
     },
     "scan_phase": {
       "type": "number",
-      "default": 0.0,
+      "default": "0.0",
       "minimum": 0.0,
       "maximum": 360.0,
       "description": "Sensor scan phase."
diff --git a/nebula_ros/schema/sub/topic.json b/nebula_ros/schema/sub/topic.json
index 5394da54f..47fd7bb44 100644
--- a/nebula_ros/schema/sub/topic.json
+++ b/nebula_ros/schema/sub/topic.json
@@ -5,7 +5,7 @@
   "definitions": {
     "advanced_diagnostics": {
       "type": "boolean",
-      "default": false,
+      "default": "false",
       "readOnly": true,
       "description": "Enable advanced diagnostics."
     },
@@ -17,7 +17,7 @@
     },
     "diag_span": {
       "type": "integer",
-      "default": 1000,
+      "default": "1000",
       "minimum": 1,
       "readOnly": true,
       "description": "Diagnostics rate."
@@ -36,13 +36,13 @@
     },
     "use_bus_time": {
       "type": "boolean",
-      "default": false,
+      "default": "false",
       "readOnly": true,
       "description": "Use CAN bus time for published sensor data."
     },
     "use_sensor_time": {
       "type": "boolean",
-      "default": false,
+      "default": "false",
       "readOnly": true,
       "description": "Use sensor time for published sensor data."
     }
diff --git a/nebula_ros/schema/sub/type_vendor.template.json b/nebula_ros/schema/sub/type_vendor.template.json
index e430a450e..5e81c4f33 100644
--- a/nebula_ros/schema/sub/type_vendor.template.json
+++ b/nebula_ros/schema/sub/type_vendor.template.json
@@ -12,7 +12,7 @@
     },
     "example_parameter_1": {
       "type": "integer",
-      "default": 42,
+      "default": "42",
       "readOnly": true,
       "description": "Exclusive parameter only for specific sensor vendor."
     },