diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml
index b0d6c29d..943a4c5d 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml
@@ -10,7 +10,7 @@
         [4, 0, 155],[4, 203, 360],
         [5, 0, 152],[5, 206, 217],[5, 220, 360],
         [6, 0, 146],[6, 217, 360],
-        [7, 0, 143],[7, 235, 360],
+        [7, 0, 143],[7, 230, 360],
         [8, 0, 143],[8, 228.5, 360],
         [9, 0, 142],[9, 228.5, 360],
         [10, 0, 141],[10, 235, 360],
@@ -31,12 +31,12 @@
         [25, 0, 122],[25, 235, 360],
         [26, 0, 121],[26, 235, 360],
         [27, 0, 120],[27, 235, 360],
-        [28, 0, 119],[28, 240, 360],
+        [28, 0, 119],[28, 239, 360],
         [29, 0, 118],[29, 240, 360],
         [30, 0, 110],[30, 240, 360],
-        [31, 0, 109],[31, 240, 265],
-        [32, 0, 109],[32, 244, 265],
-        [33, 0, 108],[33, 244, 265],
+        [31, 0, 109],[31, 240, 267],
+        [32, 0, 109],[32, 244, 267],
+        [33, 0, 108],[33, 244, 267],
         [34, 0, 108],[34, 244, 265],
         [35, 0, 107],[35, 244, 265],
         [36, 0, 107],[36, 244, 265],
@@ -54,6 +54,9 @@
         [48, 0, 95],
         [49, 0, 94],
         [50, 0, 93],
-        [51, 0, 93]
+        [51, 0, 93],
+        [52, 0, 92],
+        [53, 0, 92],
+        [54, 0, 92]
         ]
       }
diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml
index db47c2ac..66e55a5f 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml
@@ -10,7 +10,7 @@
         [4, 0, 155],[4, 203, 360],
         [5, 0, 152],[5, 206, 217],[5, 220, 360],
         [6, 0, 146],[6, 217, 360],
-        [7, 0, 143],[7, 235, 360],
+        [7, 0, 143],[7, 230, 360],
         [8, 0, 139],[8, 228.5, 360],
         [9, 0, 135],[9, 228.5, 360],
         [10, 0, 133],[10, 235, 360],
@@ -31,12 +31,12 @@
         [25, 0, 114],[25, 235, 360],
         [26, 0, 113],[26, 235, 360],
         [27, 0, 112],[27, 235, 360],
-        [28, 0, 119],[28, 240, 360],
+        [28, 0, 119],[28, 239, 360],
         [29, 0, 118],[29, 240, 360],
         [30, 0, 110],[30, 240, 360],
-        [31, 0, 109],[31, 240, 265],
-        [32, 0, 109],[32, 244, 265],
-        [33, 0, 108],[33, 244, 265],
+        [31, 0, 109],[31, 240, 267],
+        [32, 0, 109],[32, 244, 267],
+        [33, 0, 108],[33, 244, 267],
         [34, 0, 108],[34, 244, 265],
         [35, 0, 107],[35, 244, 265],
         [36, 0, 107],[36, 244, 265],
@@ -55,6 +55,9 @@
         [49, 0, 94],
         [50, 0, 93],
         [51, 0, 93],
+        [52, 0, 92],
+        [53, 0, 92],
+        [54, 0, 92]
         [1, 0, 360],
         [2, 0, 360],
         [4, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml
index 263deabf..e21ce758 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml
@@ -10,7 +10,7 @@
         [4, 0, 155],[4, 203, 360],
         [5, 0, 152],[5, 206, 217],[5, 220, 360],
         [6, 0, 146],[6, 217, 360],
-        [7, 0, 143],[7, 235, 360],
+        [7, 0, 143],[7, 230, 360],
         [8, 0, 139],[8, 228.5, 360],
         [9, 0, 135],[9, 228.5, 360],
         [10, 0, 133],[10, 235, 360],
@@ -31,12 +31,12 @@
         [25, 0, 114],[25, 235, 360],
         [26, 0, 113],[26, 235, 360],
         [27, 0, 112],[27, 235, 360],
-        [28, 0, 119],[28, 240, 360],
+        [28, 0, 119],[28, 239, 360],
         [29, 0, 118],[29, 240, 360],
         [30, 0, 110],[30, 240, 360],
-        [31, 0, 109],[31, 240, 265],
-        [32, 0, 109],[32, 244, 265],
-        [33, 0, 108],[33, 244, 265],
+        [31, 0, 109],[31, 240, 267],
+        [32, 0, 109],[32, 244, 267],
+        [33, 0, 108],[33, 244, 267],
         [34, 0, 108],[34, 244, 265],
         [35, 0, 107],[35, 244, 265],
         [36, 0, 107],[36, 244, 265],
@@ -55,6 +55,9 @@
         [49, 0, 94],
         [50, 0, 93],
         [51, 0, 93],
+        [52, 0, 92],
+        [53, 0, 92],
+        [54, 0, 92],
         [0, 0, 360],
         [3, 0, 360],
         [6, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml
index 366958ed..0303a1d4 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml
@@ -61,12 +61,12 @@
         [118, 303.81, 360],
         [119, 302.09, 360],
         [120, 298.42, 360],
-        [121, 299.63, 360],
-        [122, 298.42, 360],
-        [123, 298.42, 360],
-        [124, 293, 360],
-        [125, 90, 91],[125, 293, 360],
-        [126, 90, 91],[126, 292.12, 360],
-        [127, 90, 91],[127, 289.71, 360]
+        [121, 90, 91],[121, 299.63, 360],
+        [122, 90, 92],[122, 298.42, 360],
+        [123, 90, 92],[123, 298.42, 360],
+        [124, 90, 93],[124, 293, 360],
+        [125, 90, 93],[125, 293, 360],
+        [126, 90, 93],[126, 292.12, 360],
+        [127, 90, 93],[127, 289.71, 360]
         ]
       }
diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml
index d97f176e..d6117158 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml
@@ -61,13 +61,13 @@
         [118, 303.81, 360],
         [119, 302.09, 360],
         [120, 298.42, 360],
-        [121, 299.63, 360],
-        [122, 298.42, 360],
-        [123, 298.42, 360],
-        [124, 293, 360],
-        [125, 90, 91],[125, 293, 360],
-        [126, 90, 91],[126, 292.12, 360],
-        [127, 90, 91],[127, 289.71, 360],
+        [121, 90, 91],[121, 299.63, 360],
+        [122, 90, 92],[122, 298.42, 360],
+        [123, 90, 92],[123, 298.42, 360],
+        [124, 90, 93],[124, 293, 360],
+        [125, 90, 93],[125, 293, 360],
+        [126, 90, 93],[126, 292.12, 360],
+        [127, 90, 93],[127, 289.71, 360],
         [1, 0, 360],
         [2, 0, 360],
         [4, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml
index 18753f9a..2022217a 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml
@@ -61,13 +61,13 @@
         [118, 303.81, 360],
         [119, 302.09, 360],
         [120, 298.42, 360],
-        [121, 299.63, 360],
-        [122, 298.42, 360],
-        [123, 298.42, 360],
-        [124, 293, 360],
-        [125, 90, 91],[125, 293, 360],
-        [126, 90, 91],[126, 292.12, 360],
-        [127, 90, 91],[127, 289.71, 360],
+        [121, 90, 91],[121, 299.63, 360],
+        [122, 90, 92],[122, 298.42, 360],
+        [123, 90, 92],[123, 298.42, 360],
+        [124, 90, 93],[124, 293, 360],
+        [125, 90, 93],[125, 293, 360],
+        [126, 90, 93],[126, 292.12, 360],
+        [127, 90, 93],[127, 289.71, 360],
         [0, 0, 360],
         [3, 0, 360],
         [6, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml
index e47031b9..ec2a65e9 100644
--- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml
@@ -20,18 +20,18 @@
         [14, 0, 150],[14, 232, 360],
         [15, 0, 150],[15, 233, 360],
         [16, 0, 150],[16, 234, 360],
-        [17, 0, 145],[17, 235, 360],
-        [18, 0, 145],[18, 235, 360],
-        [19, 0, 135],[19, 236, 360],
-        [20, 102, 130],[20, 240, 360],
+        [17, 0, 147],[17, 235, 360],
+        [18, 0, 148],[18, 235, 360],
+        [19, 0, 146],[19, 236, 360],
+        [20, 97, 143],[20, 240, 360],
         [21, 102, 125],[21, 241, 360],
         [22, 105, 125],[22, 241, 360],
-        [23, 105, 124],[23, 244, 360],
-        [24, 105, 123],[24, 245, 360],
-        [25, 106, 122],[25, 246, 360],
-        [26, 107, 121],[26, 247, 360],
-        [27, 108, 120],[27, 248, 360],
-        [28, 109, 119],[28, 248, 360],
+        [23, 105, 125],[23, 244, 360],
+        [24, 105, 125],[24, 245, 360],
+        [25, 106, 124],[25, 246, 360],
+        [26, 107, 123],[26, 247, 360],
+        [27, 108, 122],[27, 248, 360],
+        [28, 109, 120],[28, 248, 360],
         [29, 110, 118],[29, 250, 360],
         [30, 111, 117],[30, 250, 360],
         [31, 112.5, 116],[31, 251, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml
index 2a972111..6e755be6 100644
--- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml
@@ -20,18 +20,18 @@
         [14, 0, 150],[14, 232, 360],
         [15, 0, 150],[15, 233, 360],
         [16, 0, 150],[16, 234, 360],
-        [17, 0, 145],[17, 235, 360],
-        [18, 0, 145],[18, 235, 360],
-        [19, 0, 135],[19, 236, 360],
-        [20, 102, 130],[20, 240, 360],
-        [21, 105, 125],[21, 241, 360],
+        [17, 0, 147],[17, 235, 360],
+        [18, 0, 148],[18, 235, 360],
+        [19, 0, 146],[19, 236, 360],
+        [20, 97, 143],[20, 240, 360],
+        [21, 102, 125],[21, 241, 360],
         [22, 105, 125],[22, 241, 360],
-        [23, 105, 124],[23, 244, 360],
-        [24, 105, 123],[24, 245, 360],
-        [25, 106, 122],[25, 246, 360],
-        [26, 107, 121],[26, 247, 360],
-        [27, 108, 120],[27, 248, 360],
-        [28, 109, 119],[28, 248, 360],
+        [23, 105, 125],[23, 244, 360],
+        [24, 105, 125],[24, 245, 360],
+        [25, 106, 124],[25, 246, 360],
+        [26, 107, 123],[26, 247, 360],
+        [27, 108, 122],[27, 248, 360],
+        [28, 109, 120],[28, 248, 360],
         [29, 110, 118],[29, 250, 360],
         [30, 111, 117],[30, 250, 360],
         [31, 112.5, 116],[31, 251, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml
index c8b8fbbf..54889649 100644
--- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml
@@ -20,18 +20,18 @@
         [14, 0, 150],[14, 232, 360],
         [15, 0, 150],[15, 233, 360],
         [16, 0, 150],[16, 234, 360],
-        [17, 0, 145],[17, 235, 360],
-        [18, 0, 145],[18, 235, 360],
-        [19, 0, 135],[19, 236, 360],
-        [20, 102, 130],[20, 240, 360],
-        [21, 105, 125],[21, 241, 360],
+        [17, 0, 147],[17, 235, 360],
+        [18, 0, 148],[18, 235, 360],
+        [19, 0, 146],[19, 236, 360],
+        [20, 97, 143],[20, 240, 360],
+        [21, 102, 125],[21, 241, 360],
         [22, 105, 125],[22, 241, 360],
-        [23, 105, 124],[23, 244, 360],
-        [24, 105, 123],[24, 245, 360],
-        [25, 106, 122],[25, 246, 360],
-        [26, 107, 121],[26, 247, 360],
-        [27, 108, 120],[27, 248, 360],
-        [28, 109, 119],[28, 248, 360],
+        [23, 105, 125],[23, 244, 360],
+        [24, 105, 125],[24, 245, 360],
+        [25, 106, 124],[25, 246, 360],
+        [26, 107, 123],[26, 247, 360],
+        [27, 108, 122],[27, 248, 360],
+        [28, 109, 120],[28, 248, 360],
         [29, 110, 118],[29, 250, 360],
         [30, 111, 117],[30, 250, 360],
         [31, 112.5, 116],[31, 251, 360],
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index d393ee56..b382a8fb 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -171,7 +171,7 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2323"/>
         <arg name="sync_angle" value="180"/>
-        <arg name="cut_angle" value="274.0" />
+        <arg name="cut_angle" value="275.0" />
         <arg name="cloud_min_angle" value="85"/>
         <arg name="cloud_max_angle" value="275"/>
         <arg name="return_mode" value="LastStrongest"/>