diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.py b/aip_x1_launch/launch/topic_state_monitor.launch.py
index b45b0f4e..1c17606c 100644
--- a/aip_x1_launch/launch/topic_state_monitor.launch.py
+++ b/aip_x1_launch/launch/topic_state_monitor.launch.py
@@ -155,7 +155,7 @@ def generate_launch_description():
         name="topic_state_monitor_rough_no_ground",
         parameters=[
             {
-                "topic": "/perception/obstacle_segmentation/single_frame/pointcloud_raw",
+                "topic": "/perception/obstacle_segmentation/single_frame/pointcloud",
                 "topic_type": "sensor_msgs/msg/PointCloud2",
                 "best_effort": True,
                 "diag_name": "sensing_topic_status",
diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.xml b/aip_x1_launch/launch/topic_state_monitor.launch.xml
index 8912fb67..aa89fccd 100644
--- a/aip_x1_launch/launch/topic_state_monitor.launch.xml
+++ b/aip_x1_launch/launch/topic_state_monitor.launch.xml
@@ -76,7 +76,7 @@
   <!-- Topic Monitor for Concat Filter -->
   <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
     <arg name="node_name_suffix" value="rough_no_ground"/>
-    <arg name="topic" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
+    <arg name="topic" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
     <arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
     <arg name="best_effort" value="true"/>
     <arg name="diag_name" value="sensing_topic_status"/>