diff --git a/aip_x1_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_x1_launch/config/concatenate_and_time_sync_node.param.yaml
index cb5e873c..cbb78b0e 100644
--- a/aip_x1_launch/config/concatenate_and_time_sync_node.param.yaml
+++ b/aip_x1_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    use_cuda: false
     debug_mode: false
     has_static_tf_only: false
     rosbag_replay: false
diff --git a/aip_x2_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_x2_launch/config/concatenate_and_time_sync_node.param.yaml
index f726354b..b4c1f752 100644
--- a/aip_x2_launch/config/concatenate_and_time_sync_node.param.yaml
+++ b/aip_x2_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    use_cuda: false
     debug_mode: false
     has_static_tf_only: false
     rosbag_replay: false
diff --git a/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
index bd1dc498..187f0f45 100644
--- a/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
+++ b/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    use_cuda: false
     debug_mode: false
     has_static_tf_only: false
     rosbag_replay: false
diff --git a/aip_xx1_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_xx1_launch/config/concatenate_and_time_sync_node.param.yaml
index 86ef53b0..5ff81605 100644
--- a/aip_xx1_launch/config/concatenate_and_time_sync_node.param.yaml
+++ b/aip_xx1_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -1,8 +1,9 @@
 /**:
   ros__parameters:
+    use_cuda: true
     debug_mode: false
     has_static_tf_only: false
-    rosbag_replay: false
+    rosbag_replay: true
     rosbag_length: 20.0
     maximum_queue_size: 5
     timeout_sec: 0.2
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 3a628503..9c29f934 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -6,6 +6,8 @@
   <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="use_pointcloud_container" default="true"/>
+  <arg name="use_cuda_preprocessor" default="true"/>
   <arg name="enable_blockage_diag" default="true"/>
 
   <group>
@@ -23,6 +25,9 @@
         <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="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
         <arg name="vertical_bins" value="128"/>
         <arg name="horizontal_ring_id" value="64"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -45,6 +50,9 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -67,6 +75,9 @@
         <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="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -89,6 +100,9 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index d1fa63a1..e683b523 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -44,9 +44,11 @@ def launch_setup(context, *args, **kwargs):
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
             ("output", "concatenated/pointcloud"),
+            ("output/cuda", "concatenated/pointcloud/cuda"),
         ],
         parameters=[concatenate_and_time_sync_node_param],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        # NOTE(knzo25): when using  the cuda blackboard, this setting can not be made global
+        # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
     # load concat or passthrough filter
diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml
index 0b5b5be9..73b4b940 100644
--- a/aip_xx1_launch/package.xml
+++ b/aip_xx1_launch/package.xml
@@ -10,6 +10,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_cuda_pointcloud_preprocessor</exec_depend>
   <exec_depend>autoware_gnss_poser</exec_depend>
   <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index dcb260f4..8850abd6 100644
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -18,6 +18,9 @@
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="use_cuda_preprocessor" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -36,6 +39,9 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
     <arg name="ptp_profile" value="automotive"/>
     <arg name="ptp_transport_type" value="L2"/>
     <arg name="ptp_switch_type" value="NON_TSN"/>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index e7e93a1b..5d53caed 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -18,6 +18,9 @@
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="use_cuda_preprocessor" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -42,5 +45,8 @@
     <arg name="setup_sensor" value="true"/>
     <arg name="retry_hw" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
   </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 68736b64..b39d2516 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -85,13 +85,14 @@ def create_parameter_dict(*args):
 
     nodes = []
 
-    nodes.append(
-        ComposableNode(
-            package="glog_component",
-            plugin="GlogComponent",
-            name="glog_component",
+    if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context):
+        nodes.append(
+            ComposableNode(
+                package="glog_component",
+                plugin="GlogComponent",
+                name="glog_component",
+            )
         )
-    )
 
     nodes.append(
         ComposableNode(
@@ -168,94 +169,235 @@ def create_parameter_dict(*args):
             )
         )
 
-    cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
-    cropbox_parameters["negative"] = True
-
     vehicle_info = get_vehicle_info(context)
-    cropbox_parameters["min_x"] = vehicle_info["min_longitudinal_offset"]
-    cropbox_parameters["max_x"] = vehicle_info["max_longitudinal_offset"]
-    cropbox_parameters["min_y"] = vehicle_info["min_lateral_offset"]
-    cropbox_parameters["max_y"] = vehicle_info["max_lateral_offset"]
-    cropbox_parameters["min_z"] = vehicle_info["min_height_offset"]
-    cropbox_parameters["max_z"] = vehicle_info["max_height_offset"]
+    mirror_info = load_composable_node_param("vehicle_mirror_param_file")
 
-    nodes.append(
-        ComposableNode(
-            package="autoware_pointcloud_preprocessor",
-            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
-            name="crop_box_filter_self",
-            remappings=[
-                ("input", "pointcloud_raw_ex"),
-                ("output", "self_cropped/pointcloud_ex"),
-            ],
-            parameters=[cropbox_parameters],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    if IfCondition(LaunchConfiguration("use_cuda_preprocessor")).evaluate(context):
+        nodes.append(
+            ComposableNode(
+                package="autoware_cuda_pointcloud_preprocessor",
+                plugin="autoware::cuda_organized_pointcloud_adapter::CudaOrganizedPointcloudAdapterNode",
+                name="cuda_organized_pointcloud_adapter_node",
+                remappings=[
+                    ("~/input/pointcloud", "pointcloud_raw_ex"),
+                    ("~/output/pointcloud", "cuda_points"),
+                    ("~/output/pointcloud/cuda", "cuda_points/cuda"),
+                ],
+                # The whole node can not set use_intra_process due to type negotiation internal topics
+                # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+            )
         )
-    )
 
-    mirror_info = load_composable_node_param("vehicle_mirror_param_file")
-    cropbox_parameters["min_x"] = mirror_info["min_longitudinal_offset"]
-    cropbox_parameters["max_x"] = mirror_info["max_longitudinal_offset"]
-    cropbox_parameters["min_y"] = mirror_info["min_lateral_offset"]
-    cropbox_parameters["max_y"] = mirror_info["max_lateral_offset"]
-    cropbox_parameters["min_z"] = mirror_info["min_height_offset"]
-    cropbox_parameters["max_z"] = mirror_info["max_height_offset"]
+        preprocessor_parameters = {}
+        preprocessor_parameters["self_crop.min_x"] = vehicle_info["min_longitudinal_offset"]
+        preprocessor_parameters["self_crop.max_x"] = vehicle_info["max_longitudinal_offset"]
+        preprocessor_parameters["self_crop.min_y"] = vehicle_info["min_lateral_offset"]
+        preprocessor_parameters["self_crop.max_y"] = vehicle_info["max_lateral_offset"]
+        preprocessor_parameters["self_crop.min_z"] = vehicle_info["min_height_offset"]
+        preprocessor_parameters["self_crop.max_z"] = vehicle_info["max_height_offset"]
+        preprocessor_parameters["mirror_crop.min_x"] = mirror_info["min_longitudinal_offset"]
+        preprocessor_parameters["mirror_crop.max_x"] = mirror_info["max_longitudinal_offset"]
+        preprocessor_parameters["mirror_crop.min_y"] = mirror_info["min_lateral_offset"]
+        preprocessor_parameters["mirror_crop.max_y"] = mirror_info["max_lateral_offset"]
+        preprocessor_parameters["mirror_crop.min_z"] = mirror_info["min_height_offset"]
+        preprocessor_parameters["mirror_crop.max_z"] = mirror_info["max_height_offset"]
+
+        ring_outlier_filter_node_param = ParameterFile(
+            param_file=LaunchConfiguration("ring_outlier_filter_node_param_file").perform(context),
+            allow_substs=True,
+        )
 
-    nodes.append(
-        ComposableNode(
-            package="autoware_pointcloud_preprocessor",
-            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
-            name="crop_box_filter_mirror",
-            remappings=[
-                ("input", "self_cropped/pointcloud_ex"),
-                ("output", "mirror_cropped/pointcloud_ex"),
-            ],
-            parameters=[cropbox_parameters],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        nodes.append(
+            ComposableNode(
+                package="autoware_cuda_pointcloud_preprocessor",
+                plugin="autoware::cuda_pointcloud_preprocessor::CudaPointcloudPreprocessorNode",
+                name="cuda_pointcloud_preprocessor_node",
+                parameters=[
+                    preprocessor_parameters,
+                    load_composable_node_param("distortion_corrector_node_param_file"),
+                    ring_outlier_filter_node_param,
+                ],
+                remappings=[
+                    ("~/input/pointcloud", "cuda_points"),
+                    ("~/input/pointcloud/cuda", "cuda_points/cuda"),
+                    ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
+                    ("~/input/imu", "/sensing/imu/imu_data"),
+                    ("~/output/pointcloud", "pointcloud_before_sync"),
+                    ("~/output/pointcloud/cuda", "pointcloud_before_sync/cuda"),
+                ],
+                # The whole node can not set use_intra_process due to type negotiation internal topics
+                # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+            )
         )
-    )
+    else:
+        cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
+        cropbox_parameters["negative"] = True
 
-    nodes.append(
-        ComposableNode(
-            package="autoware_pointcloud_preprocessor",
-            plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
-            name="distortion_corrector_node",
-            remappings=[
-                ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
-                ("~/input/imu", "/sensing/imu/imu_data"),
-                ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"),
-                ("~/output/pointcloud", "rectified/pointcloud_ex"),
-            ],
-            parameters=[load_composable_node_param("distortion_corrector_node_param_file")],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        vehicle_info = get_vehicle_info(context)
+        cropbox_parameters["min_x"] = vehicle_info["min_longitudinal_offset"]
+        cropbox_parameters["max_x"] = vehicle_info["max_longitudinal_offset"]
+        cropbox_parameters["min_y"] = vehicle_info["min_lateral_offset"]
+        cropbox_parameters["max_y"] = vehicle_info["max_lateral_offset"]
+        cropbox_parameters["min_z"] = vehicle_info["min_height_offset"]
+        cropbox_parameters["max_z"] = vehicle_info["max_height_offset"]
+
+        nodes.append(
+            ComposableNode(
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
+                name="crop_box_filter_self",
+                remappings=[
+                    ("input", "pointcloud_raw_ex"),
+                    ("output", "self_cropped/pointcloud_ex"),
+                ],
+                parameters=[cropbox_parameters],
+                extra_arguments=[
+                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
+                ],
+            )
         )
-    )
 
-    ring_outlier_filter_node_param = ParameterFile(
-        param_file=LaunchConfiguration("ring_outlier_filter_node_param_file").perform(context),
-        allow_substs=True,
-    )
+        mirror_info = load_composable_node_param("vehicle_mirror_param_file")
+        cropbox_parameters["min_x"] = mirror_info["min_longitudinal_offset"]
+        cropbox_parameters["max_x"] = mirror_info["max_longitudinal_offset"]
+        cropbox_parameters["min_y"] = mirror_info["min_lateral_offset"]
+        cropbox_parameters["max_y"] = mirror_info["max_lateral_offset"]
+        cropbox_parameters["min_z"] = mirror_info["min_height_offset"]
+        cropbox_parameters["max_z"] = mirror_info["max_height_offset"]
 
-    # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
-    if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true":
-        ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
-    else:
-        # keep the output frame as the input frame
-        ring_outlier_output_frame = {"output_frame": ""}
+        nodes.append(
+            ComposableNode(
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
+                name="crop_box_filter_mirror",
+                remappings=[
+                    ("input", "self_cropped/pointcloud_ex"),
+                    ("output", "mirror_cropped/pointcloud_ex"),
+                ],
+                parameters=[cropbox_parameters],
+                extra_arguments=[
+                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
+                ],
+            )
+        )
 
-    nodes.append(
-        ComposableNode(
-            package="autoware_pointcloud_preprocessor",
-            plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
-            name="ring_outlier_filter",
-            remappings=[
-                ("input", "rectified/pointcloud_ex"),
-                ("output", "pointcloud_before_sync"),
-            ],
-            parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        nodes.append(
+            ComposableNode(
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
+                name="distortion_corrector_node",
+                remappings=[
+                    ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
+                    ("~/input/imu", "/sensing/imu/imu_data"),
+                    ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"),
+                    ("~/output/pointcloud", "rectified/pointcloud_ex"),
+                ],
+                parameters=[load_composable_node_param("distortion_corrector_node_param_file")],
+                extra_arguments=[
+                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
+                ],
+            )
+        )
+
+        ring_outlier_filter_node_param = ParameterFile(
+            param_file=LaunchConfiguration("ring_outlier_filter_node_param_file").perform(context),
+            allow_substs=True,
+        )
+
+        # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
+        if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true":
+            ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
+        else:
+            # keep the output frame as the input frame
+            ring_outlier_output_frame = {"output_frame": ""}
+
+        nodes.append(
+            ComposableNode(
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
+                name="ring_outlier_filter",
+                remappings=[
+                    ("input", "rectified/pointcloud_ex"),
+                    ("output", "pointcloud_before_sync"),
+                ],
+                parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
+                extra_arguments=[
+                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
+                ],
+            )
+        )
+
+    if launch_driver:
+        nodes.append(
+            ComposableNode(
+                package="nebula_ros",
+                plugin=sensor_make + "HwInterfaceRosWrapper",
+                # node is created in a global context, need to avoid name clash
+                name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
+                parameters=[
+                    {
+                        "sensor_model": sensor_model,
+                        "calibration_file": sensor_calib_fp,
+                        **create_parameter_dict(
+                            "sensor_ip",
+                            "host_ip",
+                            "scan_phase",
+                            "return_mode",
+                            "frame_id",
+                            "rotation_speed",
+                            "data_port",
+                            "gnss_port",
+                            "cloud_min_angle",
+                            "cloud_max_angle",
+                            "packet_mtu_size",
+                            "dual_return_distance_threshold",
+                            "setup_sensor",
+                            "ptp_profile",
+                            "ptp_transport_type",
+                            "ptp_switch_type",
+                            "ptp_domain",
+                            "retry_hw",
+                        ),
+                    }
+                ],
+            )
+        )
+
+    if IfCondition(LaunchConfiguration("enable_blockage_diag")).evaluate(context):
+        nodes.append(
+            ComposableNode(
+                package="autoware_pointcloud_preprocessor",
+                plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent",
+                name="blockage_diag",
+                remappings=[
+                    ("input", "pointcloud_raw_ex"),
+                    ("output", "blockage_diag/pointcloud"),
+                ],
+                parameters=[
+                    {
+                        "angle_range": [
+                            float(
+                                context.perform_substitution(LaunchConfiguration("cloud_min_angle"))
+                            ),
+                            float(
+                                context.perform_substitution(LaunchConfiguration("cloud_max_angle"))
+                            ),
+                        ],
+                        "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
+                        "vertical_bins": LaunchConfiguration("vertical_bins"),
+                        "is_channel_order_top2down": LaunchConfiguration(
+                            "is_channel_order_top2down"
+                        ),
+                        "max_distance_range": LaunchConfiguration("max_range"),
+                        "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
+                    }
+                ]
+                + [load_composable_node_param("blockage_diagnostics_param_file")],
+                extra_arguments=[
+                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
+                ],
+            )
         )
-    )
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
@@ -264,79 +406,17 @@ def create_parameter_dict(*args):
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=nodes,
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="both",
     )
 
-    driver_component = ComposableNode(
-        package="nebula_ros",
-        plugin=sensor_make + "HwInterfaceRosWrapper",
-        # node is created in a global context, need to avoid name clash
-        name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
-        parameters=[
-            {
-                "sensor_model": sensor_model,
-                "calibration_file": sensor_calib_fp,
-                **create_parameter_dict(
-                    "sensor_ip",
-                    "host_ip",
-                    "scan_phase",
-                    "return_mode",
-                    "frame_id",
-                    "rotation_speed",
-                    "data_port",
-                    "gnss_port",
-                    "cloud_min_angle",
-                    "cloud_max_angle",
-                    "packet_mtu_size",
-                    "dual_return_distance_threshold",
-                    "setup_sensor",
-                    "ptp_profile",
-                    "ptp_transport_type",
-                    "ptp_switch_type",
-                    "ptp_domain",
-                    "retry_hw",
-                ),
-            }
-        ],
-    )
-
-    blockage_diag_component = ComposableNode(
-        package="autoware_pointcloud_preprocessor",
-        plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent",
-        name="blockage_diag",
-        remappings=[
-            ("input", "pointcloud_raw_ex"),
-            ("output", "blockage_diag/pointcloud"),
-        ],
-        parameters=[
-            {
-                "angle_range": [
-                    float(context.perform_substitution(LaunchConfiguration("cloud_min_angle"))),
-                    float(context.perform_substitution(LaunchConfiguration("cloud_max_angle"))),
-                ],
-                "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
-                "vertical_bins": LaunchConfiguration("vertical_bins"),
-                "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
-                "max_distance_range": LaunchConfiguration("max_range"),
-                "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
-            }
-        ]
-        + [load_composable_node_param("blockage_diagnostics_param_file")],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
-    driver_component_loader = LoadComposableNodes(
-        composable_node_descriptions=[driver_component],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("launch_driver")),
-    )
-    blockage_diag_loader = LoadComposableNodes(
-        composable_node_descriptions=[blockage_diag_component],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("enable_blockage_diag")),
+    load_composable_nodes = LoadComposableNodes(
+        composable_node_descriptions=nodes,
+        target_container=LaunchConfiguration("pointcloud_container_name"),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
-    return [container, driver_component_loader, blockage_diag_loader]
+    return [container, load_composable_nodes]
 
 
 def generate_launch_description():
@@ -380,6 +460,9 @@ 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("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("use_pointcloud_container", "False")
+    add_launch_arg("use_cuda_preprocessor", "False")
     add_launch_arg("ptp_profile", "1588v2")
     add_launch_arg("ptp_transport_type", "L2")
     add_launch_arg("ptp_switch_type", "TSN")
diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
index 4a6cd6c1..98aa4a05 100644
--- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -16,6 +16,9 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="use_cuda_preprocessor" default="false"/>
   <arg name="vertical_bins" default="16"/>
   <arg name="horizontal_ring_id" default="0"/>
   <arg name="is_channel_order_top2down" default="false"/>
@@ -39,6 +42,9 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
     <arg name="vertical_bins" value="$(var vertical_bins)"/>
     <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
     <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
diff --git a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
index 3544d16e..3a5f55ab 100644
--- a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
@@ -16,6 +16,9 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="use_cuda_preprocessor" default="false"/>
   <arg name="vertical_bins" default="32"/>
   <arg name="horizontal_ring_id" default="0"/>
   <arg name="is_channel_order_top2down" default="false"/>
@@ -39,6 +42,9 @@
     <arg name="use_intra_process" value="false"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
     <arg name="vertical_bins" value="$(var vertical_bins)"/>
     <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
     <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
index 01c8affa..85fab387 100644
--- a/common_sensor_launch/launch/velodyne_VLS128.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -16,6 +16,9 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="use_cuda_preprocessor" default="false"/>
   <arg name="vertical_bins" default="128"/>
   <arg name="horizontal_ring_id" default="64"/>
   <arg name="is_channel_order_top2down" default="false"/>
@@ -39,6 +42,9 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
     <arg name="vertical_bins" value="$(var vertical_bins)"/>
     <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
     <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>