diff --git a/aip_xx1_description/urdf/sensors.xacro b/aip_xx1_description/urdf/sensors.xacro
index f6899f14..64dbf6bb 100644
--- a/aip_xx1_description/urdf/sensors.xacro
+++ b/aip_xx1_description/urdf/sensors.xacro
@@ -59,7 +59,7 @@
   <!-- embedded radar sensors -->
   <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
   <xacro:radar_macro
-    name="radar_front_center"
+    name="front_center/radar_link"
     parent="base_link"
     x="${calibration['base_link']['front_center/radar_link']['x']}"
     y="${calibration['base_link']['front_center/radar_link']['y']}"
@@ -69,7 +69,7 @@
     yaw="${calibration['base_link']['front_center/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="radar_front_right"
+    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']}"
@@ -79,7 +79,7 @@
     yaw="${calibration['base_link']['front_right/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="radar_front_left"
+    name="front_left/radar_link"
     parent="base_link"
     x="${calibration['base_link']['front_left/radar_link']['x']}"
     y="${calibration['base_link']['front_left/radar_link']['y']}"
@@ -89,7 +89,7 @@
     yaw="${calibration['base_link']['front_left/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="radar_back_center"
+    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']}"
@@ -99,7 +99,7 @@
     yaw="${calibration['base_link']['rear_center/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="radar_back_right"
+    name="rear_right/radar_link"
     parent="base_link"
     x="${calibration['base_link']['rear_right/radar_link']['x']}"
     y="${calibration['base_link']['rear_right/radar_link']['y']}"
@@ -109,7 +109,7 @@
     yaw="${calibration['base_link']['rear_right/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="radar_back_left"
+    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']}"
diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index e8aa4186..ba6b935c 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -33,9 +33,9 @@
     </include>
 
     <!-- Radar Driver -->
-    <!-- <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
+    <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
-    </include> -->
+    </include>
 
     <!-- Vehicle twist -->
     <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index b446e499..a1a50dbc 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -33,7 +33,7 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="ptp_profile" value="1588v2"/>
-    <arg name="ptp_transport_type" value="L2"/>
+    <arg name="ptp_transport_type" value="UDP"/>
     <arg name="setup_sensor" value="true"/>
     <arg name="retry_hw" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>