diff --git a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py
index 183f3681..b91fe124 100644
--- a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py
@@ -37,7 +37,7 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/top/outlier_filtered/pointcloud",
+                    "/sensing/lidar/top/pointcloud",
                     "/sensing/lidar/front_center/pointcloud_raw",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
diff --git a/aip_x1_1_launch/launch/sensing.launch.xml b/aip_x1_1_launch/launch/sensing.launch.xml
index e5ac18b5..5699d526 100644
--- a/aip_x1_1_launch/launch/sensing.launch.xml
+++ b/aip_x1_1_launch/launch/sensing.launch.xml
@@ -6,8 +6,6 @@
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
   <arg name="use_awsim" default="false"/>
-  <let name="imu_raw_name" value="tamagawa/imu_raw" if ="$(var use_awsim)"/>
-  <let name="imu_raw_name" value="/sensing/lidar/front_center/livox/imu" unless ="$(var use_awsim)"/>
 
   <group>
     <!-- LiDAR Driver -->
diff --git a/aip_x1_1_launch/launch/topic_state_monitor.launch.py b/aip_x1_1_launch/launch/topic_state_monitor.launch.py
index 29bc9f69..03cdc3e0 100644
--- a/aip_x1_1_launch/launch/topic_state_monitor.launch.py
+++ b/aip_x1_1_launch/launch/topic_state_monitor.launch.py
@@ -45,7 +45,7 @@ def generate_launch_description():
         name="topic_state_monitor_top_outlier_filtered",
         parameters=[
             {
-                "topic": "/sensing/lidar/top/outlier_filtered/pointcloud",
+                "topic": "/sensing/lidar/top/pointcloud",
                 "topic_type": "sensor_msgs/msg/PointCloud2",
                 "best_effort": True,
                 "diag_name": "sensing_topic_status",
diff --git a/aip_x1_1_launch/launch/velodyne_node_container.launch.py b/aip_x1_1_launch/launch/velodyne_node_container.launch.py
index 3f644f33..aefe95b7 100644
--- a/aip_x1_1_launch/launch/velodyne_node_container.launch.py
+++ b/aip_x1_1_launch/launch/velodyne_node_container.launch.py
@@ -140,7 +140,7 @@ def create_parameter_dict(*args):
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
-                ("output", "outlier_filtered/pointcloud"),
+                ("output", "pointcloud"),
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )