diff --git a/aip_x2_gen2_launch/launch/imu.launch.xml b/aip_x2_gen2_launch/launch/imu.launch.xml
index 828d24a7..a2c0c80d 100644
--- a/aip_x2_gen2_launch/launch/imu.launch.xml
+++ b/aip_x2_gen2_launch/launch/imu.launch.xml
@@ -17,7 +17,7 @@
       <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"/>
+        <param name="imu_frame_id" value="top_front_left/imu_link"/>
       </node>
     </group>
 
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index c9e0c4af..2763a2cc 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -21,7 +21,7 @@
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="true" />
       <arg name="use_pointcloud_container" value="true"/>
-      <arg name="pointcloud_container_name" value="pointcloud_container"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
     <!-- LiDARs connected to Main ECU -->
@@ -44,7 +44,7 @@
         <arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -55,7 +55,9 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+
+        <!-- TODO: remove -->
+        <arg name="scan_phase" value="90.0"/>
       </include>
     </group>
 
@@ -78,7 +80,7 @@
         <arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -89,7 +91,9 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+
+        <!-- TODO: remove -->
+        <arg name="scan_phase" value="0.0"/>
       </include>
     </group>
 
@@ -112,7 +116,7 @@
         <arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -123,7 +127,9 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+
+        <!-- TODO: remove -->
+        <arg name="scan_phase" value="90.0"/>
       </include>
     </group>
 
@@ -146,7 +152,7 @@
         <arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -157,7 +163,9 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+
+        <!-- TODO: remove -->
+        <arg name="scan_phase" value="0.0"/>
       </include>
     </group>
 
@@ -192,7 +200,9 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+
+        <!-- TODO: remove -->
+        <arg name="scan_phase" value="270.0"/>
       </include>
     </group>
 
@@ -226,7 +236,9 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+
+        <!-- TODO: remove -->
+        <arg name="scan_phase" value="180.0"/>
       </include>
     </group>
 
@@ -260,7 +272,9 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+
+        <!-- TODO: remove -->
+        <arg name="scan_phase" value="270.0"/>
       </include>
     </group>
 
@@ -294,7 +308,9 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+
+        <!-- TODO: remove -->
+        <arg name="scan_phase" value="180.0"/>
       </include>
     </group>
 
diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
index f5f86127..98336e33 100644
--- a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
+++ b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
@@ -27,6 +27,7 @@
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch_ros.substitutions import FindPackageShare
 import yaml
 
 
@@ -131,6 +132,7 @@ def str2vector(string):
                     "ptp_switch_type",
                     "ptp_domain",
                     "diag_span",
+                    "scan_phase" # TODO: remove
                 ),
                 "launch_hw": True,
                 "retry_hw": True,
@@ -218,10 +220,10 @@ def str2vector(string):
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
             ("~/input/imu", "/sensing/imu/imu_data"),
-            ("~/input/velocity_report", "/vehicle/status/velocity_status"),
             ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"),
             ("~/output/pointcloud", "pointcloud"),
         ],
+        parameters=[load_composable_node_param("distortion_corrector_node_param_file")],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -364,8 +366,14 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("container_name", "nebula_node_container")
 
     add_launch_arg("dual_return_filter_param_file")
-    add_launch_arg("blockage_diagnostics_param_file")
-
+    add_launch_arg(
+        "blockage_diagnostics_param_file",
+        [FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics.param.yaml"],
+    )
+    add_launch_arg(
+        "distortion_corrector_node_param_file",
+        [FindPackageShare("common_sensor_launch"), "/config/distortion_corrector_node.param.yaml"],
+    )
     add_launch_arg("vertical_bins", "128")
     add_launch_arg("horizontal_ring_id", "12")
     add_launch_arg("blockage_range", "[270.0, 90.0]")
@@ -374,6 +382,9 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("max_azimuth_deg", "225.0")
     add_launch_arg("enable_blockage_diag", "true")
 
+    # TODO: remove
+    add_launch_arg("scan_phase", "0.0")
+
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",