diff --git a/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index 26eaa1b..e296121 100644
--- a/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -39,13 +39,14 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/left/pointcloud",
-                    "/sensing/lidar/right/pointcloud",
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    "/sensing/lidar/left/pointcloud_before_sync",
+                    "/sensing/lidar/right/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "timeout_sec": 0.01,
                 "input_twist_topic_type": "twist",
+                "publish_synchronized_pointcloud": True,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
diff --git a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py
index 2f8b8eb..b323cb8 100644
--- a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py
+++ b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py
@@ -71,6 +71,13 @@ def create_parameter_dict(*args):
 
     nodes = []
 
+    nodes.append(
+        ComposableNode(
+            package="glog_component",
+            plugin="GlogComponent",
+            name="glog_component",
+        )
+    )
     cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
     cropbox_parameters["negative"] = True
 
@@ -117,7 +124,23 @@ def create_parameter_dict(*args):
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
+    nodes.append(
+        ComposableNode(
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
+            name="distortion_corrector_node",
+            remappings=[
+                ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
+                ("~/input/imu", "/sensing/imu/imu_data"),
+                ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"),
+                ("~/output/pointcloud", "rectified/pointcloud_ex"),
+            ],
+            parameters=[distortion_corrector_node_param],
+            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        )
+    )
 
+    # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
     if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true":
         ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
     else:
@@ -129,7 +152,7 @@ def create_parameter_dict(*args):
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
-                ("output", "pointcloud"),
+                ("output", "pointcloud_before_sync"),
             ],
             parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
@@ -144,48 +167,36 @@ def create_parameter_dict(*args):
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=nodes,
+        output="both",
     )
 
-    distortion_component = ComposableNode(
-        package="autoware_pointcloud_preprocessor",
-        plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
-        name="distortion_corrector_node",
-        remappings=[
-            ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
-            ("~/input/imu", "/sensing/imu/imu_data"),
-            ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"),
-            ("~/output/pointcloud", "rectified/pointcloud_ex"),
-        ],
-        parameters=[distortion_corrector_node_param],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    distortion_relay_component = ComposableNode(
-        package="topic_tools",
-        plugin="topic_tools::RelayNode",
-        name="pointcloud_distortion_relay",
-        namespace="",
-        parameters=[
-            {"input_topic": "mirror_cropped/pointcloud_ex"},
-            {"output_topic": "rectified/pointcloud_ex"}
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
+    # distortion_relay_component = ComposableNode(
+    #     package="topic_tools",
+    #     plugin="topic_tools::RelayNode",
+    #     name="pointcloud_distortion_relay",
+    #     namespace="",
+    #     parameters=[
+    #         {"input_topic": "mirror_cropped/pointcloud_ex"},
+    #         {"output_topic": "rectified/pointcloud_ex"}
+    #     ],
+    #     extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    # )
 
     # one way to add a ComposableNode conditional on a launch argument to a
     # container. The `ComposableNode` itself doesn't accept a condition
-    distortion_loader = LoadComposableNodes(
-        composable_node_descriptions=[distortion_component],
-        target_container=container,
-        condition=launch.conditions.IfCondition(LaunchConfiguration("use_distortion_corrector")),
-    )
-    distortion_relay_loader = LoadComposableNodes(
-        composable_node_descriptions=[distortion_relay_component],
-        target_container=container,
-        condition=launch.conditions.UnlessCondition(LaunchConfiguration("use_distortion_corrector")),
-    )
+    # distortion_loader = LoadComposableNodes(
+    #     composable_node_descriptions=[distortion_component],
+    #     target_container=container,
+    #     condition=launch.conditions.IfCondition(LaunchConfiguration("use_distortion_corrector")),
+    # )
+    # distortion_relay_loader = LoadComposableNodes(
+    #     composable_node_descriptions=[distortion_relay_component],
+    #     target_container=container,
+    #     condition=launch.conditions.UnlessCondition(LaunchConfiguration("use_distortion_corrector")),
+    # )
+    # return [container, distortion_loader, distortion_relay_loader]
 
-    return [container, distortion_loader, distortion_relay_loader]
+    return [container]
 
 
 def generate_launch_description():