From 234c86e833f1d1fc336a96f80ba14449a0e04090 Mon Sep 17 00:00:00 2001
From: Sho Iwasawa <41606073+zusizusi@users.noreply.github.com>
Date: Mon, 5 Aug 2024 15:39:31 +0300
Subject: [PATCH] revert(xx1_gen2): revert PR of updating for xx1 gen2 (#210)
 (#280)

Revert "feat(aip_xx1_description): update for xx1 gen2 (#210)"

This reverts commit d1d423d1869acb5d81532fc89969d337c2eac499.

Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>
---
 aip_xx1_gen2_description/CMakeLists.txt       |  11 -
 .../config/sensor_kit_calibration.yaml        | 113 --------
 .../config/sensors_calibration.yaml           |  71 -----
 aip_xx1_gen2_description/package.xml          |  17 --
 .../urdf/sensor_kit.xacro                     | 253 ------------------
 aip_xx1_gen2_description/urdf/sensors.xacro   | 121 ---------
 aip_xx1_gen2_launch/CMakeLists.txt            |  16 --
 .../sensor_kit.param.yaml                     | 118 --------
 .../sensor_kit.param.yaml                     |  30 ---
 .../config/gyro_bias_estimator.param.yaml     |   6 -
 aip_xx1_gen2_launch/config/lidar_gen2.yaml    |  69 -----
 aip_xx1_gen2_launch/config/lidar_launch.yaml  |  70 -----
 .../radar_simple_object_merger.param.yaml     |   6 -
 .../data/traffic_light_camera.yaml            |  20 --
 aip_xx1_gen2_launch/launch/camera.launch.xml  |  19 --
 aip_xx1_gen2_launch/launch/gnss.launch.xml    |  41 ---
 aip_xx1_gen2_launch/launch/imu.launch.xml     |  56 ----
 aip_xx1_gen2_launch/launch/lidar.launch.py    | 188 -------------
 aip_xx1_gen2_launch/launch/lidar.launch.xml   | 125 ---------
 .../launch/pointcloud_preprocessor.launch.py  | 100 -------
 aip_xx1_gen2_launch/launch/radar.launch.xml   | 236 ----------------
 aip_xx1_gen2_launch/launch/sensing.launch.xml |  47 ----
 aip_xx1_gen2_launch/package.xml               |  32 ---
 .../launch/hesai_OT128.launch.xml             |  41 ---
 .../launch/hesai_XT32.launch.xml              |  10 +-
 .../launch/nebula_node_container.launch.py    |  45 ----
 26 files changed, 2 insertions(+), 1859 deletions(-)
 delete mode 100644 aip_xx1_gen2_description/CMakeLists.txt
 delete mode 100644 aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
 delete mode 100644 aip_xx1_gen2_description/config/sensors_calibration.yaml
 delete mode 100644 aip_xx1_gen2_description/package.xml
 delete mode 100644 aip_xx1_gen2_description/urdf/sensor_kit.xacro
 delete mode 100644 aip_xx1_gen2_description/urdf/sensors.xacro
 delete mode 100644 aip_xx1_gen2_launch/CMakeLists.txt
 delete mode 100644 aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
 delete mode 100644 aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
 delete mode 100644 aip_xx1_gen2_launch/config/gyro_bias_estimator.param.yaml
 delete mode 100644 aip_xx1_gen2_launch/config/lidar_gen2.yaml
 delete mode 100644 aip_xx1_gen2_launch/config/lidar_launch.yaml
 delete mode 100644 aip_xx1_gen2_launch/config/radar_simple_object_merger.param.yaml
 delete mode 100644 aip_xx1_gen2_launch/data/traffic_light_camera.yaml
 delete mode 100644 aip_xx1_gen2_launch/launch/camera.launch.xml
 delete mode 100644 aip_xx1_gen2_launch/launch/gnss.launch.xml
 delete mode 100644 aip_xx1_gen2_launch/launch/imu.launch.xml
 delete mode 100644 aip_xx1_gen2_launch/launch/lidar.launch.py
 delete mode 100644 aip_xx1_gen2_launch/launch/lidar.launch.xml
 delete mode 100644 aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
 delete mode 100644 aip_xx1_gen2_launch/launch/radar.launch.xml
 delete mode 100644 aip_xx1_gen2_launch/launch/sensing.launch.xml
 delete mode 100644 aip_xx1_gen2_launch/package.xml
 delete mode 100644 common_sensor_launch/launch/hesai_OT128.launch.xml

diff --git a/aip_xx1_gen2_description/CMakeLists.txt b/aip_xx1_gen2_description/CMakeLists.txt
deleted file mode 100644
index 549de0f8..00000000
--- a/aip_xx1_gen2_description/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(aip_xx1_gen2_description)
-
-find_package(ament_cmake_auto REQUIRED)
-
-ament_auto_find_build_dependencies()
-
-ament_auto_package(INSTALL_TO_SHARE
-    urdf
-    config
-)
diff --git a/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
deleted file mode 100644
index 88288533..00000000
--- a/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
+++ /dev/null
@@ -1,113 +0,0 @@
-sensor_kit_base_link:
-  camera0/camera_link:
-    x: 0.372 # Design Value
-    y: 0.0 # Design Value
-    z: -0.207 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
-  camera1/camera_link:
-    x: 0.372 # Design Value
-    y: 0.045 # Design Value
-    z: -0.207 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
-  camera2/camera_link:
-    x: 0.372 # Design Value
-    y: -0.045 # Design Value
-    z: -0.207 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
-  camera3/camera_link:
-    x: 0.133 # Design Value
-    y: 0.498 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.872665 # Design Value
-  camera4/camera_link:
-    x: 0.133 # Design Value
-    y: -0.498 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -0.872665 # Design Value
-  camera5/camera_link:
-    x: 0.095 # Design Value
-    y: 0.524 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 1.0472 # Design Value
-  camera6/camera_link:
-    x: 0.095 # Design Value
-    y: -0.524 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -1.0472 # Design Value
-  camera7/camera_link:
-    x: -0.345 # Design Value
-    y: 0.244 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.70526 # Design Value
-  camera8/camera_link:
-    x: -0.345 # Design Value
-    y: -0.244 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -2.70526 # Design Value
-  camera9/camera_link:
-    x: -0.362 # Design Value
-    y: 0.202 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.79253 # Design Value
-  camera10/camera_link:
-    x: -0.362 # Design Value
-    y: -0.202 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -2.79253 # Design Value
-  hesai_top_base_link:
-    x: 0.0 # Design Value
-    y: 0.0 # Design Value
-    z: 0.0 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 4.36332298038 # Design Value
-  hesai_left_base_link:
-    x: 0.0 # Design Value
-    y: 0.564 # Design Value
-    z: -0.300 # Design Value
-    roll: 0.872665 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 3.14159265359 # Design Value
-  hesai_right_base_link:
-    x: 0.0 # Design Value
-    y: -0.564 # Design Value
-    z: -0.300 # Design Value
-    roll: 0.69813132679 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
-  gnss_link:
-    x: -0.279 # Design Value
-    y: 0.0 # Design Value
-    z: -0.160 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
-  tamagawa/imu_link:
-    x: -0.129 # Design Value
-    y: 0.0 # Design Value
-    z: -0.160 # Design Value
-    roll: 3.14159265359
-    pitch: 0.0 # Design Value
-    yaw: 3.14159265359 # Design Value
diff --git a/aip_xx1_gen2_description/config/sensors_calibration.yaml b/aip_xx1_gen2_description/config/sensors_calibration.yaml
deleted file mode 100644
index a57d3ea9..00000000
--- a/aip_xx1_gen2_description/config/sensors_calibration.yaml
+++ /dev/null
@@ -1,71 +0,0 @@
-base_link:
-  sensor_kit_base_link:
-    x: 0.9
-    y: 0.0
-    z: 2.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  hesai_front_left_base_link:
-    x: 3.373 # Design Value
-    y: 0.740 # Design Value
-    z: 0.5482
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.44346132679 # Design Value
-  hesai_front_right_base_link:
-    x: 3.373 # Design Value
-    y: -0.740 # Design Value
-    z: 0.5482
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.69813132679 # Design Value
-  # velodyne_rear_base_link: #unused
-  #   x: -0.358
-  #   y: 0.0
-  #   z: 1.631
-  #   roll: -0.02
-  #   pitch: 0.7281317
-  #   yaw: 3.141592
-  front_center/radar_link:
-    x: 3.520 # Design Value
-    y: 0.0 # Design Value
-    z: 0.6352
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
-  front_right/radar_link:
-    x: 3.384 # Design Value
-    y: -0.7775 # Design Value
-    z: 0.410
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -1.22173 # Design Value
-  front_left/radar_link:
-    x: 3.384 # Design Value
-    y: 0.7775 # Design Value
-    z: 0.410
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 1.22173 # Design Value
-  rear_center/radar_link:
-    x: -0.858 # Design Value
-    y: 0.0 # Design Value
-    z: 0.520
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 3.141592 # Design Value
-  rear_right/radar_link:
-    x: -0.782 # Design Value
-    y: -0.761 # Design Value
-    z: 0.520
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -2.0944 # Design Value
-  rear_left/radar_link:
-    x: -0.782 # Design Value
-    y: 0.761 # Design Value
-    z: 0.520
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.0944 # Design Value
diff --git a/aip_xx1_gen2_description/package.xml b/aip_xx1_gen2_description/package.xml
deleted file mode 100644
index 9b010d72..00000000
--- a/aip_xx1_gen2_description/package.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>aip_xx1_gen2_description</name>
-  <version>0.1.0</version>
-  <description>The aip_xx1_gen2_description package</description>
-
-  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
-  <license>Apache 2</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <depend>velodyne_description</depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/aip_xx1_gen2_description/urdf/sensor_kit.xacro b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
deleted file mode 100644
index 137b3589..00000000
--- a/aip_xx1_gen2_description/urdf/sensor_kit.xacro
+++ /dev/null
@@ -1,253 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_ot128.xacro"/>
-    <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
-    <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
-    <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
-
-    <!-- <xacro:property name="pi" value="3.1415926835897931"/> -->
-    <xacro:arg name="gpu" default="false"/>
-    <xacro:arg name="config_dir" default="$(find aip_xx1_gen2_description)/config"/>
-
-    <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
-
-    <joint name="${sensor_kit_base_link}_joint" type="fixed">
-      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
-      <parent link="${parent}"/>
-      <child link="${sensor_kit_base_link}"/>
-    </joint>
-    <link name="${sensor_kit_base_link}">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </link>
-
-    <!-- sensor -->
-    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
-    <!-- lidar -->
-    <xacro:PandarOT-128
-      name="hesai_top"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_top_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_top_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_top_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_top_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_top_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_top_base_link']['yaw']}"
-    />
-    <xacro:PandarXT-32
-      name="hesai_side_right"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_right_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_right_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_right_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_right_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_right_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_right_base_link']['yaw']}"
-    />
-    <xacro:PandarXT-32
-      name="hesai_side_left"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_left_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_left_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_left_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_left_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_left_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_left_base_link']['yaw']}"
-    />
-
-    <!-- camera -->
-    <xacro:monocular_camera_macro
-      name="camera0/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera0/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera0/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera0/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera0/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera0/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera0/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera1/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera1/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera1/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera1/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera1/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera1/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera1/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera2/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera2/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera2/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera2/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera2/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera2/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera2/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera3/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera3/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera3/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera3/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera3/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera3/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera3/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera4/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera4/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera4/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera4/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera4/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera4/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera4/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera5/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera5/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera5/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera5/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera5/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera5/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera5/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera6/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera6/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera6/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera6/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera6/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera6/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera6/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera7/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera7/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera7/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera7/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera7/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera7/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera7/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera8/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera8/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera8/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera8/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera8/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera8/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera8/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera9/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera9/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera9/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera9/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera9/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera9/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera9/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera10/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera10/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera10/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera10/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera10/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera10/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera10/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <!-- gnss -->
-    <xacro:imu_macro
-      name="gnss"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['gnss_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['gnss_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['gnss_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['gnss_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['gnss_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['gnss_link']['yaw']}"
-      fps="100"
-    />
-    <!-- imu -->
-    <xacro:imu_macro
-      name="tamagawa/imu"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['yaw']}"
-      fps="100"
-    />
-  </xacro:macro>
-
-</robot>
diff --git a/aip_xx1_gen2_description/urdf/sensors.xacro b/aip_xx1_gen2_description/urdf/sensors.xacro
deleted file mode 100644
index 81faabe8..00000000
--- a/aip_xx1_gen2_description/urdf/sensors.xacro
+++ /dev/null
@@ -1,121 +0,0 @@
-<?xml version="1.0"?>
-<robot name="vehicle" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:arg name="config_dir" default="$(find aip_xx1_gen2_description)/config"/>
-  <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>
-
-  <!-- sensor kit -->
-  <xacro:include filename="sensor_kit.xacro"/>
-  <xacro:sensor_kit_macro
-    parent="base_link"
-    x="${calibration['base_link']['sensor_kit_base_link']['x']}"
-    y="${calibration['base_link']['sensor_kit_base_link']['y']}"
-    z="${calibration['base_link']['sensor_kit_base_link']['z']}"
-    roll="${calibration['base_link']['sensor_kit_base_link']['roll']}"
-    pitch="${calibration['base_link']['sensor_kit_base_link']['pitch']}"
-    yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
-  />
-  <!-- embedded lidar sensors -->
-  <!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
-  <xacro:VLP-16
-    parent="base_link"
-    name="velodyne_rear"
-    topic="velodyne_rear/velodyne_points"
-    hz="10"
-    samples="220"
-    gpu="false"
-  >
-    <origin
-      xyz="${calibration['base_link']['velodyne_rear_base_link']['x']}
-           ${calibration['base_link']['velodyne_rear_base_link']['y']}
-           ${calibration['base_link']['velodyne_rear_base_link']['z']}"
-      rpy="${calibration['base_link']['velodyne_rear_base_link']['roll']}
-           ${calibration['base_link']['velodyne_rear_base_link']['pitch']}
-           ${calibration['base_link']['velodyne_rear_base_link']['yaw']}"
-    />
-  </xacro:VLP-16> -->
-  <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
-  <xacro:PandarXT-32
-    name="hesai_front_left"
-    parent="base_link"
-    x="${calibration['base_link']['hesai_front_left_base_link']['x']}"
-    y="${calibration['base_link']['hesai_front_left_base_link']['y']}"
-    z="${calibration['base_link']['hesai_front_left_base_link']['z']}"
-    roll="${calibration['base_link']['hesai_front_left_base_link']['roll']}"
-    pitch="${calibration['base_link']['hesai_front_left_base_link']['pitch']}"
-    yaw="${calibration['base_link']['hesai_front_left_base_link']['yaw']}"
-  />
-  <xacro:PandarXT-32
-    name="hesai_front_right"
-    parent="base_link"
-    x="${calibration['base_link']['hesai_front_right_base_link']['x']}"
-    y="${calibration['base_link']['hesai_front_right_base_link']['y']}"
-    z="${calibration['base_link']['hesai_front_right_base_link']['z']}"
-    roll="${calibration['base_link']['hesai_front_right_base_link']['roll']}"
-    pitch="${calibration['base_link']['hesai_front_right_base_link']['pitch']}"
-    yaw="${calibration['base_link']['hesai_front_right_base_link']['yaw']}"
-  />
-
-  <!-- embedded radar sensors -->
-  <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
-  <xacro:radar_macro
-    name="front_center/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['front_center/radar_link']['x']}"
-    y="${calibration['base_link']['front_center/radar_link']['y']}"
-    z="${calibration['base_link']['front_center/radar_link']['z']}"
-    roll="${calibration['base_link']['front_center/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_center/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_center/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="front_right/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['front_right/radar_link']['x']}"
-    y="${calibration['base_link']['front_right/radar_link']['y']}"
-    z="${calibration['base_link']['front_right/radar_link']['z']}"
-    roll="${calibration['base_link']['front_right/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_right/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_right/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="front_left/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['front_left/radar_link']['x']}"
-    y="${calibration['base_link']['front_left/radar_link']['y']}"
-    z="${calibration['base_link']['front_left/radar_link']['z']}"
-    roll="${calibration['base_link']['front_left/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_left/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_left/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_center/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_center/radar_link']['x']}"
-    y="${calibration['base_link']['rear_center/radar_link']['y']}"
-    z="${calibration['base_link']['rear_center/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_center/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_center/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_center/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_right/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_right/radar_link']['x']}"
-    y="${calibration['base_link']['rear_right/radar_link']['y']}"
-    z="${calibration['base_link']['rear_right/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_right/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_right/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_right/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_left/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_left/radar_link']['x']}"
-    y="${calibration['base_link']['rear_left/radar_link']['y']}"
-    z="${calibration['base_link']['rear_left/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_left/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_left/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_left/radar_link']['yaw']}"
-  />
-</robot>
diff --git a/aip_xx1_gen2_launch/CMakeLists.txt b/aip_xx1_gen2_launch/CMakeLists.txt
deleted file mode 100644
index 7f8d9f60..00000000
--- a/aip_xx1_gen2_launch/CMakeLists.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(aip_xx1_gen2_launch)
-
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_auto_package(INSTALL_TO_SHARE
-  launch
-  data
-  config
-)
diff --git a/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
deleted file mode 100644
index 56fc9dbd..00000000
--- a/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
+++ /dev/null
@@ -1,118 +0,0 @@
-/**:
-  ros__parameters:
-    sensing:
-      type: diagnostic_aggregator/AnalyzerGroup
-      path: sensing
-      analyzers:
-        node_alive_monitoring:
-          type: diagnostic_aggregator/AnalyzerGroup
-          path: node_alive_monitoring
-          analyzers:
-            topic_status:
-              type: diagnostic_aggregator/GenericAnalyzer
-              path: topic_status
-              contains: [": sensing_topic_status"]
-              timeout: 1.0
-
-        lidar:
-          type: diagnostic_aggregator/AnalyzerGroup
-          path: lidar
-          analyzers:
-            performance_monitoring:
-              type: diagnostic_aggregator/AnalyzerGroup
-              path: performance_monitoring
-              analyzers:
-                blockage:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: blockage
-                  contains: [": blockage_validation"]
-                  timeout: 1.0
-            velodyne:
-              type: diagnostic_aggregator/AnalyzerGroup
-              path: velodyne
-              analyzers:
-                health_monitoring:
-                  type: diagnostic_aggregator/AnalyzerGroup
-                  path: health_monitoring
-                  analyzers:
-                    connection:
-                      type: diagnostic_aggregator/GenericAnalyzer
-                      path: connection
-                      contains: [": velodyne_connection"]
-                      timeout: 3.0
-
-                    temperature:
-                      type: diagnostic_aggregator/GenericAnalyzer
-                      path: temperature
-                      contains: [": velodyne_temperature"]
-                      timeout: 3.0
-
-                    rpm:
-                      type: diagnostic_aggregator/GenericAnalyzer
-                      path: rpm
-                      contains: [": velodyne_rpm"]
-                      timeout: 3.0
-
-        gnss:
-          type: diagnostic_aggregator/AnalyzerGroup
-          path: gnss
-          analyzers:
-            health_monitoring:
-              type: diagnostic_aggregator/AnalyzerGroup
-              path: health_monitoring
-              analyzers:
-                connection:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: connection
-                  contains: [": gnss_connection"]
-                  timeout: 3.0
-
-                data:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: data
-                  contains: [": gnss_data"]
-                  timeout: 3.0
-
-                antenna:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: antenna
-                  contains: [": gnss_antenna"]
-                  timeout: 3.0
-
-                tx_usage:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: tx_usage
-                  contains: [": gnss_tx_usage"]
-                  timeout: 3.0
-
-                spoofing:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: spoofing
-                  contains: [": gnss_spoofing"]
-                  timeout: 3.0
-
-                jamming:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: jamming
-                  contains: [": gnss_jamming"]
-                  timeout: 3.0
-
-                fix_topic_status:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: fix_topic_status
-                  contains: [": fix topic status"]
-                  timeout: 3.0
-
-        imu:
-          type: diagnostic_aggregator/AnalyzerGroup
-          path: imu
-          analyzers:
-            bias_monitoring:
-              type: diagnostic_aggregator/AnalyzerGroup
-              path: bias_monitoring
-              analyzers:
-                gyro_bias_validator:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: gyro_bias_validator
-                  contains: [": gyro_bias_validator"]
-                  timeout: 1.0
diff --git a/aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
deleted file mode 100644
index 80cc7944..00000000
--- a/aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
+++ /dev/null
@@ -1,30 +0,0 @@
-# Description:
-#   name: diag name
-#   is_active: Force update or not
-#   status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
-#
-# Note:
-#
-# default values are:
-#   is_active: "true"
-#   status: "OK"
----
-/**:
-  ros__parameters:
-    required_diags:
-      # gnss
-      gnss_connection: default
-      gnss_data: default
-      gnss_antenna: default
-      gnss_tx_usage: default
-      gnss_spoofing: default
-      gnss_jamming: default
-      fix topic status: default
-
-      # velodyne
-      velodyne_connection: default
-      velodyne_temperature: default
-      velodyne_rpm: default
-
-      # imu
-      gyro_bias_estimator: default
diff --git a/aip_xx1_gen2_launch/config/gyro_bias_estimator.param.yaml b/aip_xx1_gen2_launch/config/gyro_bias_estimator.param.yaml
deleted file mode 100644
index d552569f..00000000
--- a/aip_xx1_gen2_launch/config/gyro_bias_estimator.param.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-/**:
-  ros__parameters:
-    gyro_bias_threshold: 0.008 # [rad/s]
-    timer_callback_interval_sec: 0.5 # [sec]
-    diagnostics_updater_interval_sec: 0.5 # [sec]
-    straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]
diff --git a/aip_xx1_gen2_launch/config/lidar_gen2.yaml b/aip_xx1_gen2_launch/config/lidar_gen2.yaml
deleted file mode 100644
index fcfefdd4..00000000
--- a/aip_xx1_gen2_launch/config/lidar_gen2.yaml
+++ /dev/null
@@ -1,69 +0,0 @@
-launches:
-  - sensor_type: hesai_OT128
-    namespace: top
-    parameters:
-      max_range: 300.0
-      sensor_frame: hesai_top
-      sensor_ip: 192.168.1.201
-      data_port: 2368
-      scan_phase: 160
-      vertical_bins: 128
-  - sensor_type: hesai_XT32
-    namespace: front_left
-    parameters:
-      max_range: 300.0
-      sensor_frame: hesai_front_left
-      sensor_ip: 192.168.1.21
-      data_port: 2369
-      scan_phase: 50.0
-      cloud_min_angle: 50
-      cloud_max_angle: 320
-      vertical_bins: 16
-      horizontal_ring_id: 0
-  - sensor_type: hesai_XT32
-    namespace: front_right
-    parameters:
-      max_range: 300.0
-      sensor_frame: hesai_front_right
-      sensor_ip: 192.168.1.22
-      data_port: 2370
-      scan_phase: 310.0
-      cloud_min_angle: 40
-      cloud_max_angle: 310
-  - sensor_type: hesai_XT32
-    namespace: side_left
-    parameters:
-      max_range: 10.0
-      sensor_frame: hesai_side_left
-      sensor_ip: 192.168.1.23
-      data_port: 2371
-      scan_phase: 90.0
-      cloud_min_angle: 90
-      cloud_max_angle: 270
-  - sensor_type: hesai_XT32
-    namespace: side_right
-    parameters:
-      max_range: 10.0
-      sensor_frame: hesai_side_right
-      sensor_ip: 192.168.1.24
-      data_port: 2372
-      scan_phase: 270.0
-      cloud_min_angle: 90
-      cloud_max_angle: 270
-
-preprocessor:
-  input_topics:
-    - /sensing/lidar/top/pointcloud_before_sync
-    - /sensing/lidar/side_left/pointcloud_before_sync
-    - /sensing/lidar/side_right/pointcloud_before_sync
-    - /sensing/lidar/front_left/pointcloud_before_sync
-    - /sensing/lidar/front_right/pointcloud_before_sync
-  input_offset:
-    - 0.035
-    - 0.025
-    - 0.025
-    - 0.025
-    - 0.025
-  timeout_sec: 0.095
-  input_twist_topic_type: twist
-  publish_synchronized_pointcloud: true
diff --git a/aip_xx1_gen2_launch/config/lidar_launch.yaml b/aip_xx1_gen2_launch/config/lidar_launch.yaml
deleted file mode 100644
index c702f766..00000000
--- a/aip_xx1_gen2_launch/config/lidar_launch.yaml
+++ /dev/null
@@ -1,70 +0,0 @@
-launches:
-  - sensor_type: velodyne_VLS128
-    namespace: top
-    parameters:
-      max_range: 250.0
-      sensor_frame: velodyne_top
-      sensor_ip: 192.168.1.201
-      data_port: 2368
-      scan_phase: 300.0
-      vertical_bins: 128
-      horizontal_ring_id: 64
-      horizontal_resolution: 0.4
-      is_channel_order_top2down: false
-  - sensor_type: velodyne_VLP16
-    namespace: left
-    parameters:
-      max_range: 5.0
-      sensor_frame: velodyne_left
-      sensor_ip: 192.168.1.202
-      data_port: 2369
-      scan_phase: 180.0
-      cloud_min_angle: 300
-      cloud_max_angle: 60
-      vertical_bins: 16
-      horizontal_ring_id: 0
-      horizontal_resolution: 0.4
-      is_channel_order_top2down: false
-  - sensor_type: velodyne_VLP16
-    namespace: right
-    parameters:
-      max_range: 5.0
-      sensor_frame: velodyne_right
-      sensor_ip: 192.168.1.203
-      data_port: 2370
-      scan_phase: 180.0
-      cloud_min_angle: 300
-      cloud_max_angle: 60
-      vertical_bins: 16
-      horizontal_ring_id: 0
-      horizontal_resolution: 0.4
-      is_channel_order_top2down: false
-  - sensor_type: velodyne_VLP16
-    namespace: rear
-    parameters:
-      max_range: 1.5
-      sensor_frame: velodyne_rear
-      sensor_ip: 192.168.1.204
-      data_port: 2371
-      scan_phase: 180.0
-      cloud_min_angle: 300
-      cloud_max_angle: 60
-      vertical_bins: 16
-      horizontal_ring_id: 0
-      horizontal_resolution: 0.4
-      is_channel_order_top2down: false
-
-preprocessor:
-  input_topics:
-    - /sensing/lidar/top/pointcloud
-    - /sensing/lidar/left/pointcloud
-    - /sensing/lidar/right/pointcloud
-    - /sensing/lidar/rear/pointcloud
-  input_offset:
-    - 0.035
-    - 0.025
-    - 0.025
-    - 0.025
-  timeout_sec: 0.095
-  input_twist_topic_type: twist
-  publish_synchronized_pointcloud: false
diff --git a/aip_xx1_gen2_launch/config/radar_simple_object_merger.param.yaml b/aip_xx1_gen2_launch/config/radar_simple_object_merger.param.yaml
deleted file mode 100644
index a817e0b7..00000000
--- a/aip_xx1_gen2_launch/config/radar_simple_object_merger.param.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-/**:
-  ros__parameters:
-    update_rate_hz: 20.0
-    new_frame_id: "base_link"
-    timeout_threshold: 1.0
-    input_topics: ["/sensing/radar/front_center/detected_objects", "/sensing/radar/front_left/detected_objects", "/sensing/radar/rear_left/detected_objects", "/sensing/radar/rear_center/detected_objects", "/sensing/radar/rear_right/detected_objects", "/sensing/radar/front_right/detected_objects"]
diff --git a/aip_xx1_gen2_launch/data/traffic_light_camera.yaml b/aip_xx1_gen2_launch/data/traffic_light_camera.yaml
deleted file mode 100644
index 458ad17c..00000000
--- a/aip_xx1_gen2_launch/data/traffic_light_camera.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 1920
-image_height: 1080
-camera_name: traffic_light/camera
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [2410.755261, 0.000000, 922.621401, 0.000000, 2403.573140, 534.752500, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.126600, 0.152594, 0.002432, -0.001244, 0.000000]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [2370.254883, 0.000000, 920.136018, 0.000000, 0.000000, 2388.885254, 535.599668, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/aip_xx1_gen2_launch/launch/camera.launch.xml b/aip_xx1_gen2_launch/launch/camera.launch.xml
deleted file mode 100644
index 041c70c8..00000000
--- a/aip_xx1_gen2_launch/launch/camera.launch.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<launch>
-
-  <arg name="launch_driver" default="true" />
-  <arg name="camera_type" default="left" />
-
-  <group>
-    <push-ros-namespace namespace="camera"/>
-    <group>
-      <push-ros-namespace namespace="traffic_light"/>
-
-      <!-- (usb_cam_node is assumed to have launched on logging PC) -->
-      <node pkg="topic_tools" exec="relay" name="tl_camera_info_relay" output="log"
-	    args="$(var camera_type)/camera_info camera_info"/>
-
-      <node pkg="topic_tools" exec="relay" name="tl_compressed_image_relay" output="log"
-	    args="$(var camera_type)/image_raw/compressed image_raw/compressed"/>
-    </group>
-  </group>
-</launch>
diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml
deleted file mode 100644
index 37ad6bde..00000000
--- a/aip_xx1_gen2_launch/launch/gnss.launch.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<launch>
-
-  <arg name="launch_driver" default="true" />
-  <arg name="gnss_receiver" default="ublox" description="ublox(default) or septentrio"/>
-
-  <group>
-    <push-ros-namespace namespace="gnss"/>
-
-    <!-- Switch topic name -->
-    <let name="navsatfix_topic_name" value="ublox/nav_sat_fix" if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)" />
-    <let name="navpvt_topic_name" value="ublox/navpvt" if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)" />
-    <let name="navsatfix_topic_name" value="septentrio/nav_sat_fix" if="$(eval &quot;'$(var gnss_receiver)'=='septentrio'&quot;)"/>
-    <let name="navpvt_topic_name" value="septentrio/navpvt/unused" if="$(eval &quot;'$(var gnss_receiver)'=='septentrio'&quot;)"/>
-
-    <!-- Ublox Driver -->
-    <group if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)">
-      <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)" respawn="true" respawn_delay="10.0">
-        <remap from="~/fix" to="~/nav_sat_fix" />
-        <param from="$(find-pkg-share ublox_gps)/config/c94_f9p_rover.yaml"/>
-      </node>
-    </group>
-
-    <!-- Septentrio GNSS Driver -->
-    <group if="$(eval &quot;'$(var launch_driver)' and '$(var gnss_receiver)'=='septentrio'&quot;)">
-      <include file="$(find-pkg-share septentrio_gnss_driver)/launch/mosaic_x5_rover.launch.xml" />
-    </group>
-
-    <!-- NavSatFix to MGRS Pose -->
-    <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
-      <arg name="input_topic_fix" value="$(var navsatfix_topic_name)" />
-      <arg name="input_topic_navpvt" value="$(var navpvt_topic_name)" />
-
-      <arg name="output_topic_gnss_pose" value="pose" />
-      <arg name="output_topic_gnss_pose_cov" value="pose_with_covariance" />
-      <arg name="output_topic_gnss_fixed" value="fixed" />
-
-      <arg name="use_ublox_receiver" value="true" />
-    </include>
-
-  </group>
-</launch>
diff --git a/aip_xx1_gen2_launch/launch/imu.launch.xml b/aip_xx1_gen2_launch/launch/imu.launch.xml
deleted file mode 100644
index 04011706..00000000
--- a/aip_xx1_gen2_launch/launch/imu.launch.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-<launch>
-
-  <arg name="launch_driver" default="true" />
-  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
-  <arg name="imu_connection" default="$(env IMU_CONNECTION serial)" description="serial or can" />
-
-  <group>
-    <push-ros-namespace namespace="imu"/>
-
-    <!-- Use Serial Driver to connect to IMU  -->
-    <group if="$(eval &quot;'$(var imu_connection)'=='serial'&quot;)">
-      <push-ros-namespace namespace="tamagawa"/>
-      <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)" respawn="true" respawn_delay="10.0">
-        <remap from="imu/data_raw" to="imu_raw" />
-        <param name="port" value="/dev/imu" />
-        <param name="imu_frame_id" value="tamagawa/imu_link" />
-      </node>
-    </group>
-
-    <!-- Use CAN to connect to IMU  -->
-    <group if="$(eval &quot;'$(var imu_connection)'=='can'&quot;)">
-      <arg name="interface" default="canImu"/>
-      <arg name="receiver_interval_sec" default="0.01"/>
-      <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
-      <push-ros-namespace namespace="tamagawa"/>
-      <include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_receiver.launch.py">
-        <arg name="interface" value="$(var interface)"/>
-        <arg name="interval_sec" value="$(var receiver_interval_sec)"/>
-      </include>
-      <node pkg="tamagawa_imu_driver" name="tag_can_driver" exec="tag_can_driver" if="$(var launch_driver)">
-        <remap from="/can/imu" to="from_can_bus"/>
-        <remap from="imu/data_raw" to="imu_raw"/>
-        <param name="imu_frame_id" value="tamagawa/imu_link"/>
-      </node>
-    </group>
-
-    <!-- IMU Correction launch-->
-    <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
-    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml"/>
-    <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
-      <arg name="input_topic" value="$(var imu_raw_name)"/>
-      <arg name="output_topic" value="imu_data"/>
-      <arg name="param_file" value="$(var imu_corrector_param_file)"/>
-    </include>
-
-    <!-- Gyro Bias Estimator-->
-    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_gen2_launch)/config/gyro_bias_estimator.param.yaml"/>
-    <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
-      <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
-      <arg name="input_odom" value="/localization/kinematic_state"/>
-      <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
-      <arg name="gyro_bias_estimator_param_file" value="$(var gyro_bias_estimator_param_file)"/>
-    </include>
-  </group>
-
-</launch>
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.py b/aip_xx1_gen2_launch/launch/lidar.launch.py
deleted file mode 100644
index 7174fc9f..00000000
--- a/aip_xx1_gen2_launch/launch/lidar.launch.py
+++ /dev/null
@@ -1,188 +0,0 @@
-# Copyright 2024 Tier IV, Inc. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-
-from copy import deepcopy
-import os
-from typing import Any
-from typing import List
-
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.actions import GroupAction
-from launch.actions import IncludeLaunchDescription
-from launch.actions import OpaqueFunction
-from launch.launch_description_sources import AnyLaunchDescriptionSource
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import EnvironmentVariable
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import PushRosNamespace
-import yaml
-
-
-def join_list_of_arguments(arguments: List[Any]) -> str:
-    """Join a list of arguments into a string, used by Include Launch Description.
-
-    Example:
-        join_list_of_arguments([1,2,3]) -> "[1, 2, 3]"
-    """
-    return f"[{', '.join([str(arg) for arg in arguments])}]"
-
-
-def generate_launch_dictionary():
-    path_dictionary = {
-        "hesai_OT128": AnyLaunchDescriptionSource(
-            os.path.join(
-                get_package_share_directory("common_sensor_launch"),
-                "launch",
-                "hesai_OT128.launch.xml",
-            )
-        ),
-        "hesai_XT32": AnyLaunchDescriptionSource(
-            os.path.join(
-                get_package_share_directory("common_sensor_launch"),
-                "launch",
-                "hesai_XT32.launch.xml",
-            )
-        ),
-        "velodyne_VLS128": AnyLaunchDescriptionSource(
-            os.path.join(
-                get_package_share_directory("common_sensor_launch"),
-                "launch",
-                "velodyne_VLS128.launch.xml",
-            )
-        ),
-        "velodyne_VLP16": AnyLaunchDescriptionSource(
-            os.path.join(
-                get_package_share_directory("common_sensor_launch"),
-                "launch",
-                "velodyne_VLP16.launch.xml",
-            )
-        ),
-        "livox_horizon": AnyLaunchDescriptionSource(
-            os.path.join(
-                get_package_share_directory("common_sensor_launch"),
-                "launch",
-                "livox_horizon.launch.py",
-            )
-        ),
-    }
-    return path_dictionary
-
-
-def load_sub_launches_from_yaml(context, *args, **kwargs):
-    def load_yaml(yaml_file_path):
-        with open(LaunchConfiguration(yaml_file_path).perform(context), "r") as f:
-            return yaml.safe_load(f)
-
-    config = load_yaml("config_file")
-
-    path_dictionary = generate_launch_dictionary()
-
-    base_parameters = {}
-    base_parameters["host_ip"] = LaunchConfiguration("host_ip")
-    base_parameters["vehicle_mirror_param_file"] = LaunchConfiguration(
-        "vehicle_mirror_param_file"
-    ).perform(context)
-    base_parameters["launch_driver"] = LaunchConfiguration("launch_driver").perform(context)
-    base_parameters["vehicle_id"] = LaunchConfiguration("vehicle_id").perform(context)
-    base_parameters["pointcloud_container_name"] = LaunchConfiguration(
-        "pointcloud_container_name"
-    ).perform(context)
-    base_parameters["enable_blockage_diag"] = LaunchConfiguration("enable_blockage_diag").perform(
-        context
-    )
-
-    sub_launch_actions = []
-    for launch in config["launches"]:
-        launch_parameters = deepcopy(base_parameters)
-        launch_parameters.update(launch["parameters"])  # dict
-        launch_parameter_list_tuple = [(str(k), str(v)) for k, v in launch_parameters.items()]
-        sub_launch_action = GroupAction(
-            [
-                PushRosNamespace(launch["namespace"]),
-                IncludeLaunchDescription(
-                    deepcopy(path_dictionary[launch["sensor_type"]]),
-                    launch_arguments=launch_parameter_list_tuple,
-                ),
-            ]
-        )
-        sub_launch_actions.append(sub_launch_action)
-
-    processor_dict = config["preprocessor"]
-    sub_launch_actions.append(
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(
-                    get_package_share_directory("aip_xx1_gen2_launch"),
-                    "launch",
-                    "pointcloud_preprocessor.launch.py",
-                )
-            ),
-            launch_arguments=[
-                ("base_frame", "base_link"),
-                ("use_multithread", "true"),
-                ("use_intra_process", "true"),
-                ("use_pointcloud_container", LaunchConfiguration("use_pointcloud_container")),
-                ("pointcloud_container_name", LaunchConfiguration("pointcloud_container_name")),
-                ("input_topics", join_list_of_arguments(processor_dict["input_topics"])),
-                ("input_offset", join_list_of_arguments(processor_dict["input_offset"])),
-                ("timeout_sec", str(processor_dict["timeout_sec"])),
-                ("input_twist_topic_type", str(processor_dict["input_twist_topic_type"])),
-                (
-                    "publish_synchronized_pointcloud",
-                    str(processor_dict["publish_synchronized_pointcloud"]),
-                ),
-            ],
-        )
-    )
-    return [
-        GroupAction([PushRosNamespace("lidar"), *sub_launch_actions]),
-    ]
-
-
-def generate_launch_description():
-    # Define launch arguments
-    launch_arguments = []
-    config_file_arg = DeclareLaunchArgument(
-        "config_file",
-        default_value=os.path.join(
-            get_package_share_directory("aip_xx1_gen2_launch"), "config", "lidar_launch.yaml"
-        ),
-        description="Path to the configuration file",
-    )
-    launch_arguments.append(config_file_arg)
-
-    def add_launch_arg(name: str, default_value=None, **kwargs):
-        launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value, **kwargs))
-
-    add_launch_arg("launch_driver", "true")
-    add_launch_arg("host_ip", "192.168.1.10")
-    add_launch_arg("use_concat_filter", "true")
-    add_launch_arg(
-        "vehicle_id",
-        default_value=EnvironmentVariable("VEHICLE_ID", default_value="default"),
-    )
-    add_launch_arg("vehicle_mirror_param_file")
-    add_launch_arg("use_pointcloud_container", "false", description="launch pointcloud container")
-    add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg("enable_blockage_diag", "false")
-
-    # Create launch description with the config_file argument
-    ld = LaunchDescription(launch_arguments)
-    # Add sub-launch files dynamically based on the YAML configuration
-    ld.add_action(OpaqueFunction(function=load_sub_launches_from_yaml))
-
-    return ld
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.xml b/aip_xx1_gen2_launch/launch/lidar.launch.xml
deleted file mode 100644
index 4f4b37b7..00000000
--- a/aip_xx1_gen2_launch/launch/lidar.launch.xml
+++ /dev/null
@@ -1,125 +0,0 @@
-<launch>
-
-  <arg name="launch_driver" default="true"/>
-  <arg name="host_ip" default="192.168.1.10"/>
-  <arg name="use_concat_filter" default="true"/>
-  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
-  <arg name="vehicle_mirror_param_file"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="enable_blockage_diag" default="false"/>
-
-  <group>
-    <push-ros-namespace namespace="lidar"/>
-
-    <group>
-      <push-ros-namespace namespace="top"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
-        <arg name="max_range" value="300.0"/>
-        <arg name="sensor_frame" value="hesai_top"/>
-        <arg name="sensor_ip" value="192.168.1.201"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2368"/>
-        <arg name="scan_phase" value="160.0"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
-        <arg name="vertical_bins" value="128"/>
-        <arg name="horizontal_ring_id" value="64"/>
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="front_left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="300.0"/>
-        <arg name="sensor_frame" value="hesai_front_left"/>
-        <arg name="sensor_ip" value="192.168.1.21"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2369"/>
-        <arg name="scan_phase" value="50.0"/>
-        <arg name="cloud_min_angle" value="50"/>
-        <arg name="cloud_max_angle" value="320"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
-        <arg name="vertical_bins" value="16"/>
-        <arg name="horizontal_ring_id" value="0"/>
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="front_right"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="300.0"/>
-        <arg name="sensor_frame" value="hesai_front_right"/>
-        <arg name="sensor_ip" value="192.168.1.22"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2370"/>
-        <arg name="scan_phase" value="310.0"/>
-        <arg name="cloud_min_angle" value="40"/>
-        <arg name="cloud_max_angle" value="310"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
-        <arg name="vertical_bins" value="16"/>
-        <arg name="horizontal_ring_id" value="0"/>
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="side_left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="10.0"/>
-        <arg name="sensor_frame" value="hesai_side_left"/>
-        <arg name="sensor_ip" value="192.168.1.23"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2371"/>
-        <arg name="scan_phase" value="90.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
-        <arg name="vertical_bins" value="16"/>
-        <arg name="horizontal_ring_id" value="0"/>
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="side_right"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="10.0"/>
-        <arg name="sensor_frame" value="hesai_side_right"/>
-        <arg name="sensor_ip" value="192.168.1.24"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2372"/>
-        <arg name="scan_phase" value="270.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
-      </include>
-    </group>
-
-    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/pointcloud_preprocessor.launch.py">
-      <arg name="base_frame" value="base_link"/>
-      <arg name="use_intra_process" value="true"/>
-      <arg name="use_multithread" value="true"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    </include>
-
-  </group>
-</launch>
diff --git a/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
deleted file mode 100644
index 433b7f58..00000000
--- a/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
+++ /dev/null
@@ -1,100 +0,0 @@
-# Copyright 2020 Tier IV, Inc. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-
-import launch
-from launch.actions import DeclareLaunchArgument
-from launch.actions import OpaqueFunction
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-
-
-def launch_setup(context, *args, **kwargs):
-    # set concat filter as a component
-    concat_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
-        name="concatenate_data",
-        remappings=[
-            ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
-            ("output", "concatenated/pointcloud"),
-        ],
-        parameters=[
-            {
-                "input_topics": LaunchConfiguration("input_topics"),
-                "output_frame": LaunchConfiguration("base_frame"),
-                "input_offset": LaunchConfiguration(
-                    "input_offset"
-                ),  # each sensor will wait 60, 70, 70, 70ms
-                "timeout_sec": LaunchConfiguration("timeout_sec"),  # set shorter than 100ms
-                "input_twist_topic_type": LaunchConfiguration("input_twist_topic_type"),
-                "publish_synchronized_pointcloud": LaunchConfiguration(
-                    "publish_synchronized_pointcloud"
-                ),
-            }
-        ],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    # load concat or passthrough filter
-    concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component],
-        target_container=LaunchConfiguration("pointcloud_container_name"),
-        condition=IfCondition(LaunchConfiguration("use_concat_filter")),
-    )
-
-    return [concat_loader]
-
-
-def generate_launch_description():
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None):
-        launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
-
-    add_launch_arg("base_frame", "base_link")
-    add_launch_arg("use_multithread", "False")
-    add_launch_arg("use_intra_process", "False")
-    add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg("individual_container_name", "concatenate_container")
-    add_launch_arg(
-        "input_topics",
-        "[/sensing/lidar/top/pointcloud, /sensing/lidar/left/pointcloud, /sensing/lidar/right/pointcloud, /sensing/lidar/rear/pointcloud]",
-    )
-    add_launch_arg("input_offset", "[0.035, 0.025, 0.025, 0.025]")
-    add_launch_arg("timeout_sec", "0.095")
-    add_launch_arg("input_twist_topic_type", "twist")
-    add_launch_arg("publish_synchronized_pointcloud", "False")
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    return launch.LaunchDescription(
-        launch_arguments
-        + [set_container_executable, set_container_mt_executable]
-        + [OpaqueFunction(function=launch_setup)]
-    )
diff --git a/aip_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml
deleted file mode 100644
index 7eb4dbcb..00000000
--- a/aip_xx1_gen2_launch/launch/radar.launch.xml
+++ /dev/null
@@ -1,236 +0,0 @@
-<launch>
-  <arg name="ars_version" default="$(env ARS_VERSION ars408)" description="ars408 or ars548" />
-
-
-  <group if="$(eval &quot;'$(var ars_version)'=='ars408'&quot;)">
-    <arg name="launch_driver" default="true" />
-    <arg name="input/frame" default="from_can_bus" />
-    <arg name="radar_can_device" default="canRadar" />
-
-    <push-ros-namespace namespace="radar"/>
-
-    <group>
-      <push-ros-namespace namespace="front_center"/>
-
-      <include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
-        <arg name="launch_driver" value="$(var launch_driver)" />
-        <arg name="interface" value="$(var radar_can_device)" />
-        <arg name="input/frame" value="$(var input/frame)" />
-        <arg name="output_frame" value="ars408_front_center" />
-      </include>
-    </group>
-
-    <node pkg="topic_tools" exec="relay" name="radar_relay" output="log" args="front_center/detected_objects detected_objects"/>
-
-  </group>
-
-  <group if="$(eval &quot;'$(var ars_version)'=='ars548'&quot;)">
-    <let name="odometry_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
-    <let name="acceleration_topic" value="/localization/acceleration"/>
-    <let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
-    <arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>
-    <push-ros-namespace namespace="radar"/>
-
-    <node pkg="topic_tools" exec="transform" name="steer_angle_transform" output="screen" args="/vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float32 'std_msgs.msg.Float32(data=m.steering_tire_angle)'  --import autoware_auto_vehicle_msgs std_msgs --wait-for-start"/>
-    <!-- ros2 run topic_tools transform /vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float64 'std_msgs.msg.Float64(data=m.steering_tire_angle)'  \-\-import autoware_auto_vehicle_msgs std_msgs -->
-
-    <group>
-      <push-ros-namespace namespace="front_center"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.114"/>
-          <arg name="frame_id" value="front_center/radar_link"/>
-          <arg name="object_frame" value="base_link"/>
-
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="use_twist_compensation" value="false"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="front_left"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.115"/>
-          <arg name="frame_id" value="front_left/radar_link"/>
-          <arg name="object_frame" value="front_left/radar_link"/>
-
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="use_twist_compensation" value="false"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="front_right"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.116"/>
-          <arg name="frame_id" value="front_right/radar_link"/>
-          <arg name="object_frame" value="front_right/radar_link"/>
-
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="use_twist_compensation" value="false"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="rear_center"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.117"/>
-          <arg name="frame_id" value="rear_center/radar_link"/>
-          <arg name="object_frame" value="base_link"/>
-
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="use_twist_compensation" value="false"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="rear_left"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.118"/>
-          <arg name="frame_id" value="rear_left/radar_link"/>
-          <arg name="object_frame" value="base_link"/>
-
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="use_twist_compensation" value="false"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="rear_right"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.119"/>
-          <arg name="frame_id" value="rear_right/radar_link"/>
-          <arg name="object_frame" value="base_link"/>
-
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>
-    </group>
-
-    <!-- merge radar objects -->
-    <let name="merger_param_path" value="$(find-pkg-share aip_xx1_gen2_launch)/config/radar_simple_object_merger.param.yaml"/>
-    <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
-      <remap from="~/output/objects" to="detected_objects"/>
-      <param from="$(var merger_param_path)"/>
-    </node>
-  </group>
-
-</launch>
diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml
deleted file mode 100644
index 74f24c15..00000000
--- a/aip_xx1_gen2_launch/launch/sensing.launch.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<launch>
-
-  <arg name="launch_driver" default="true" description="do launch driver"/>
-  <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
-  <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_fusion, lidar, camera"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
-
-  <group>
-
-    <!-- LiDAR Driver -->
-    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/lidar.launch.py">
-      <arg name="launch_driver" value="$(var launch_driver)" />
-      <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    </include>
-
-    <!-- Camera Driver -->
-    <!-- <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/camera.launch.xml">
-      <arg name="launch_driver" value="$(var launch_driver)" />
-    </include> -->
-
-    <!-- IMU Driver -->
-    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/imu.launch.xml">
-      <arg name="launch_driver" value="$(var launch_driver)" />
-    </include>
-
-    <!-- GNSS Driver -->
-    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/gnss.launch.xml">
-      <arg name="launch_driver" value="$(var launch_driver)" />
-    </include>
-
-    <!-- Radar Driver -->
-    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/radar.launch.xml">
-      <arg name="launch_driver" value="$(var launch_driver)" />
-    </include>
-
-    <!-- Vehicle twist -->
-    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
-      <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
-      <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
-      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/vehicle_velocity_converter.param.yaml" />
-    </include>
-
-  </group>
-
-</launch>
diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
deleted file mode 100644
index 8f2f9df9..00000000
--- a/aip_xx1_gen2_launch/package.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>aip_xx1_gen2_launch</name>
-  <version>0.1.0</version>
-  <description>The aip_xx1_gen2_launch package</description>
-
-  <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <exec_depend>common_sensor_launch</exec_depend>
-  <exec_depend>glog_component</exec_depend>
-  <exec_depend>gnss_poser</exec_depend>
-  <exec_depend>imu_corrector</exec_depend>
-  <exec_depend>pacmod3</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
-  <exec_depend>ros2_socketcan</exec_depend>
-  <exec_depend>tamagawa_imu_driver</exec_depend>
-  <exec_depend>topic_tools</exec_depend>
-  <exec_depend>ublox_gps</exec_depend>
-  <exec_depend>usb_cam</exec_depend>
-  <exec_depend>vehicle_velocity_converter</exec_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>autoware_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
deleted file mode 100644
index 7d4713fd..00000000
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<launch>
-
-  <!-- Params -->
-  <arg name="launch_driver" default="true"/>
-
-  <arg name="model" default="Pandar128E4X"/>
-  <arg name="sensor_frame" default="pandar"/>
-  <arg name="return_mode" default="Strongest"/>
-  <arg name="sensor_ip" default="192.168.1.201"/>
-  <arg name="host_ip" default="255.255.255.255"/>
-  <arg name="data_port" default="2368"/>
-  <arg name="scan_phase" default="0.0"/>
-  <arg name="cloud_min_angle" default="0"/>
-  <arg name="cloud_max_angle" default="360"/>
-  <arg name="dual_return_distance_threshold" default="0.1"/>
-  <arg name="vehicle_mirror_param_file"/>
-  <arg name="container_name" default="hesai_node_container"/>
-
-  <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
-    <arg name="launch_driver" value="$(var launch_driver)"/>
-    <arg name="sensor_model" value="$(var model)"/>
-    <arg name="return_mode" value="$(var return_mode)"/>
-    <arg name="frame_id" value="$(var sensor_frame)"/>
-    <arg name="sensor_ip" value="$(var sensor_ip)"/>
-    <arg name="host_ip" value="$(var host_ip)"/>
-    <arg name="data_port" value="$(var data_port)"/>
-    <arg name="scan_phase" value="$(var scan_phase)"/>
-    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-    <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-    <arg name="use_intra_process" value="true"/>
-    <arg name="use_multithread" value="true"/>
-    <arg name="container_name" value="$(var container_name)"/>
-    <arg name="ptp_profile" value="802.1as"/>
-    <arg name="ptp_transport_type" value="L2"/>
-    <arg name="ptp_switch_type" value="NON_TSN"/>
-    <arg name="ptp_domain" value="1"/>
-    <arg name="setup_sensor" value="false"/>
-  </include>
-</launch>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index c6ea9b64..56587f72 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -25,18 +25,12 @@
     <arg name="host_ip" value="$(var host_ip)"/>
     <arg name="data_port" value="$(var data_port)"/>
     <arg name="scan_phase" value="$(var scan_phase)"/>
-    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-    <arg name="max_range" value="$(var max_range)"/>
+    <arg name="cloud_min_angle" value="0"/>
+    <arg name="cloud_max_angle" value="360"/>
     <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
-    <arg name="ptp_profile" value="1588v2"/>
-    <arg name="ptp_switch_type" value="TSN"/>
-    <arg name="ptp_transport_type" value="UDP"/>
-    <arg name="setup_sensor" value="true"/>
-    <arg name="retry_hw" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 1990f695..c3339e0c 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -113,8 +113,6 @@ def create_parameter_dict(*args):
                         "cloud_min_angle",
                         "cloud_max_angle",
                         "dual_return_distance_threshold",
-                        "setup_sensor",
-                        "retry_hw",
                     ),
                 },
             ],
@@ -126,36 +124,6 @@ def create_parameter_dict(*args):
         )
     )
 
-    nodes.append(
-        ComposableNode(
-            package="nebula_ros",
-            plugin=sensor_make + "HwMonitorRosWrapper",
-            name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node",
-            parameters=[
-                {
-                    "sensor_model": sensor_model,
-                    **create_parameter_dict(
-                        "return_mode",
-                        "frame_id",
-                        "scan_phase",
-                        "sensor_ip",
-                        "host_ip",
-                        "data_port",
-                        "gnss_port",
-                        "packet_mtu_size",
-                        "rotation_speed",
-                        "cloud_min_angle",
-                        "cloud_max_angle",
-                        "diag_span",
-                        "dual_return_distance_threshold",
-                        "delay_monitor_ms",
-                    ),
-                },
-            ],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        )
-    )
-
     cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
     cropbox_parameters["negative"] = True
 
@@ -272,11 +240,6 @@ def create_parameter_dict(*args):
                     "packet_mtu_size",
                     "dual_return_distance_threshold",
                     "setup_sensor",
-                    "ptp_profile",
-                    "ptp_transport_type",
-                    "ptp_switch_type",
-                    "ptp_domain",
-                    "retry_hw",
                 ),
             }
         ],
@@ -334,7 +297,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("config_file", "", description="sensor configuration file")
     add_launch_arg("launch_driver", "True", "do launch driver")
     add_launch_arg("setup_sensor", "True", "configure sensor")
-    add_launch_arg("retry_hw", "false", "retry hw")
     add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
     add_launch_arg("host_ip", "255.255.255.255", "host ip address")
     add_launch_arg("scan_phase", "0.0")
@@ -357,13 +319,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
     add_launch_arg("container_name", "nebula_node_container")
-    add_launch_arg("ptp_profile", "1588v2")
-    add_launch_arg("ptp_transport_type", "L2")
-    add_launch_arg("ptp_switch_type", "TSN")
-    add_launch_arg("ptp_domain", "0")
-    add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
-    add_launch_arg("diag_span", "1000", "")
-    add_launch_arg("delay_monitor_ms", "2000", "")
     add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
 
     add_launch_arg("enable_blockage_diag", "true")