diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index a237372e..a79681b8 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -187,7 +187,7 @@ def create_parameter_dict(*args):
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
-                ("output", "outlier_filtered/pointcloud"),
+                ("output", "pointcloud"),
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index f5d6b13b..420854dc 100644
--- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -38,9 +38,9 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/top/outlier_filtered/pointcloud",
-                    "/sensing/lidar/left/outlier_filtered/pointcloud",
-                    "/sensing/lidar/right/outlier_filtered/pointcloud",
+                    "/sensing/lidar/top/pointcloud",
+                    "/sensing/lidar/left/pointcloud",
+                    "/sensing/lidar/right/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_twist_topic_type": "twist",