diff --git a/aip_x1_launch/config/gyro_bias_estimator.param.yaml b/aip_x1_launch/config/gyro_bias_estimator.param.yaml
new file mode 100644
index 00000000..d552569f
--- /dev/null
+++ b/aip_x1_launch/config/gyro_bias_estimator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  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_x1_launch/launch/imu.launch.xml b/aip_x1_launch/launch/imu.launch.xml
index c192c5a1..bf00b7ca 100644
--- a/aip_x1_launch/launch/imu.launch.xml
+++ b/aip_x1_launch/launch/imu.launch.xml
@@ -14,10 +14,12 @@
       <arg name="param_file" value="$(var imu_corrector_param_file)"/>
     </include>
 
+    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_x1_launch)/config/gyro_bias_estimator.param.yaml"/>
     <include file="$(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>
 
diff --git a/aip_x1_launch/launch/lidar.launch.xml b/aip_x1_launch/launch/lidar.launch.xml
index a6ceb956..56066df5 100644
--- a/aip_x1_launch/launch/lidar.launch.xml
+++ b/aip_x1_launch/launch/lidar.launch.xml
@@ -4,7 +4,6 @@
   <arg name="use_concat_filter" default="true" />
   <arg name="use_radius_search" default="false" />
   <arg name="vehicle_mirror_param_file" />
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <!-- x1 additional setting -->
@@ -57,7 +56,6 @@
       <arg name="base_frame" value="base_link" />
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="false" />
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_x1_launch/launch/new_livox_horizon.launch.py b/aip_x1_launch/launch/new_livox_horizon.launch.py
index de3f8b9a..922d23ba 100644
--- a/aip_x1_launch/launch/new_livox_horizon.launch.py
+++ b/aip_x1_launch/launch/new_livox_horizon.launch.py
@@ -52,12 +52,12 @@ def get_crop_box_min_range_component(context, livox_frame_id):
         name="crop_box_filter_min_range",
         remappings=[
             ("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"),
-            ("output", "min_range_cropped/pointcloud"),
+            ("output", "min_range_cropped/pointcloud_before_sync"),
         ],
         parameters=[
             {
                 "input_frame": livox_frame_id,
-                "output_frame": LaunchConfiguration("base_frame"),
+                "output_frame": LaunchConfiguration("frame_id"),
                 "min_x": 0.0,
                 "max_x": LaunchConfiguration("min_range"),
                 "min_y": -2.0,
diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
index 8d9892b0..8d799261 100644
--- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -19,7 +19,6 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 
@@ -37,43 +36,27 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/front_left/min_range_cropped/pointcloud",
-                    "/sensing/lidar/front_right/min_range_cropped/pointcloud",
-                    "/sensing/lidar/front_center/min_range_cropped/pointcloud",
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    "/sensing/lidar/front_left/min_range_cropped/pointcloud_before_sync",
+                    "/sensing/lidar/front_right/min_range_cropped/pointcloud_before_sync",
+                    "/sensing/lidar/front_center/min_range_cropped/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "timeout_sec": 1.0,
                 "input_twist_topic_type": "twist",
+                "publish_synchronized_pointcloud": True,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    # set container to run all required components in the same process
-    container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[],
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
-    target_container = (
-        container
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("pointcloud_container_name")
-    )
-
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_component],
-        target_container=target_container,
+        target_container=LaunchConfiguration("pointcloud_container_name"),
     )
 
-    return [container, concat_loader]
+    return [concat_loader]
 
 
 def generate_launch_description():
@@ -85,9 +68,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
-    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg("individual_container_name", "concatenate_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml
index a0fbd4b2..1c294fdf 100644
--- a/aip_x1_launch/launch/sensing.launch.xml
+++ b/aip_x1_launch/launch/sensing.launch.xml
@@ -2,7 +2,6 @@
 
   <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="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
@@ -12,7 +11,6 @@
     <include file="$(find-pkg-share aip_x1_launch)/launch/lidar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.py b/aip_x1_launch/launch/topic_state_monitor.launch.py
index b45b0f4e..1c17606c 100644
--- a/aip_x1_launch/launch/topic_state_monitor.launch.py
+++ b/aip_x1_launch/launch/topic_state_monitor.launch.py
@@ -155,7 +155,7 @@ def generate_launch_description():
         name="topic_state_monitor_rough_no_ground",
         parameters=[
             {
-                "topic": "/perception/obstacle_segmentation/single_frame/pointcloud_raw",
+                "topic": "/perception/obstacle_segmentation/single_frame/pointcloud",
                 "topic_type": "sensor_msgs/msg/PointCloud2",
                 "best_effort": True,
                 "diag_name": "sensing_topic_status",
diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.xml b/aip_x1_launch/launch/topic_state_monitor.launch.xml
index 8912fb67..aa89fccd 100644
--- a/aip_x1_launch/launch/topic_state_monitor.launch.xml
+++ b/aip_x1_launch/launch/topic_state_monitor.launch.xml
@@ -76,7 +76,7 @@
   <!-- Topic Monitor for Concat Filter -->
   <include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
     <arg name="node_name_suffix" value="rough_no_ground"/>
-    <arg name="topic" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
+    <arg name="topic" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
     <arg name="topic_type" value="sensor_msgs/msg/PointCloud2"/>
     <arg name="best_effort" value="true"/>
     <arg name="diag_name" value="sensing_topic_status"/>
diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py
index 56b35116..2ce274b1 100644
--- a/aip_x1_launch/launch/velodyne_node_container.launch.py
+++ b/aip_x1_launch/launch/velodyne_node_container.launch.py
@@ -121,6 +121,13 @@ def create_parameter_dict(*args):
         )
     )
 
+    # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
+    if LaunchConfiguration("output_as_sensor_frame").perform(context):
+        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
+    else:
+        ring_outlier_filter_parameters = {
+            "output_frame": ""
+        }  # keep the output frame as the input frame
     nodes.append(
         ComposableNode(
             package="pointcloud_preprocessor",
@@ -128,8 +135,9 @@ def create_parameter_dict(*args):
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
-                ("output", "pointcloud"),
+                ("output", "pointcloud_before_sync"),
             ],
+            parameters=[ring_outlier_filter_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -218,6 +226,7 @@ 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 ROS2 component container communication")
+    add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/aip_x2_launch/config/blockage_diagnostics_param_file.yaml b/aip_x2_launch/config/blockage_diagnostics_param_file.yaml
index b8b62b50..e43b2039 100644
--- a/aip_x2_launch/config/blockage_diagnostics_param_file.yaml
+++ b/aip_x2_launch/config/blockage_diagnostics_param_file.yaml
@@ -4,8 +4,11 @@
     blockage_count_threshold: 50
     blockage_buffering_frames: 2
     blockage_buffering_interval: 1
+    enable_dust_diag: false
+    publish_debug_image: false
     dust_ratio_threshold: 0.2
     dust_count_threshold: 10
     dust_kernel_size: 2
     dust_buffering_frames: 10
     dust_buffering_interval: 1
+    blockage_kernel: 10
diff --git a/aip_x2_launch/config/gyro_bias_estimator.param.yaml b/aip_x2_launch/config/gyro_bias_estimator.param.yaml
new file mode 100644
index 00000000..d552569f
--- /dev/null
+++ b/aip_x2_launch/config/gyro_bias_estimator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  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_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml
index 432316cb..e3f1a056 100644
--- a/aip_x2_launch/launch/imu.launch.xml
+++ b/aip_x2_launch/launch/imu.launch.xml
@@ -29,10 +29,12 @@
       <arg name="param_file" value="$(var imu_corrector_param_file)"/>
     </include>
 
+    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_x2_launch)/config/gyro_bias_estimator.param.yaml"/>
     <include file="$(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>
 
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index c7e21aa1..9ccf52af 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -4,9 +4,9 @@
   <arg name="use_concat_filter" default="true" />
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
   <arg name="vehicle_mirror_param_file" />
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <group>
     <push-ros-namespace namespace="lidar" />
@@ -26,6 +26,9 @@
         <arg name="return_mode" value="Strongest" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -46,6 +49,9 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -68,6 +74,9 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="225.0"/>
         <arg name="max_azimuth_deg" value="315.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -89,6 +98,9 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -112,6 +124,9 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="45.0"/>
         <arg name="max_azimuth_deg" value="135.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -133,6 +148,9 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -156,6 +174,9 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Strongest" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -177,6 +198,9 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -189,7 +213,6 @@
       <arg name="base_frame" value="base_link" />
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="true" />
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index cfb39cc4..b950761e 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -43,6 +43,10 @@ def get_pandar_monitor_info():
     return p
 
 
+def str2vector(string):
+    return [float(x) for x in string.strip("[]").split(",")]
+
+
 def get_vehicle_info(context):
     # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support
     # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py
@@ -202,14 +206,22 @@ def create_parameter_dict(*args):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
+    if LaunchConfiguration("output_as_sensor_frame").perform(context):
+        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
+    else:
+        ring_outlier_filter_parameters = {
+            "output_frame": ""
+        }  # keep the output frame as the input frame
     ring_outlier_filter_component = ComposableNode(
         package="pointcloud_preprocessor",
         plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
         name="ring_outlier_filter",
         remappings=[
             ("input", "rectified/pointcloud_ex"),
-            ("output", "pointcloud"),
+            ("output", "pointcloud_before_sync"),
         ],
+        parameters=[ring_outlier_filter_parameters],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -219,7 +231,7 @@ def create_parameter_dict(*args):
         name="dual_return_filter",
         remappings=[
             ("input", "rectified/pointcloud_ex"),
-            ("output", "pointcloud"),
+            ("output", "pointcloud_before_sync"),
         ],
         parameters=[
             {
@@ -232,6 +244,7 @@ def create_parameter_dict(*args):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
     blockage_diag_component = ComposableNode(
         package="pointcloud_preprocessor",
         plugin="pointcloud_preprocessor::BlockageDiagComponent",
@@ -245,7 +258,9 @@ def create_parameter_dict(*args):
                 "angle_range": LaunchConfiguration("angle_range"),
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
-                "model": LaunchConfiguration("model"),
+                "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
+                "max_distance_range": distance_range[1],
+                "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
             }
         ]
         + [load_composable_node_param("blockage_diagnostics_param_file")],
@@ -323,6 +338,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("input_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("output_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("dual_return_filter_param_file")
+    add_launch_arg("horizontal_resolution", "0.4")
     add_launch_arg(
         "blockage_diagnostics_param_file",
         [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],
@@ -336,6 +352,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("min_azimuth_deg", "135.0")
     add_launch_arg("max_azimuth_deg", "225.0")
     add_launch_arg("enable_blockage_diag", "true")
+    add_launch_arg("output_as_sensor_frame", "True")
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index 6aa031b0..3c0a09d8 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -20,7 +20,6 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 
@@ -38,49 +37,33 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/front_upper/pointcloud",
-                    "/sensing/lidar/front_lower/pointcloud",
-                    "/sensing/lidar/left_upper/pointcloud",
-                    "/sensing/lidar/left_lower/pointcloud",
-                    "/sensing/lidar/right_upper/pointcloud",
-                    "/sensing/lidar/right_lower/pointcloud",
-                    "/sensing/lidar/rear_upper/pointcloud",
-                    "/sensing/lidar/rear_lower/pointcloud",
+                    "/sensing/lidar/front_upper/pointcloud_before_sync",
+                    "/sensing/lidar/front_lower/pointcloud_before_sync",
+                    "/sensing/lidar/left_upper/pointcloud_before_sync",
+                    "/sensing/lidar/left_lower/pointcloud_before_sync",
+                    "/sensing/lidar/right_upper/pointcloud_before_sync",
+                    "/sensing/lidar/right_lower/pointcloud_before_sync",
+                    "/sensing/lidar/rear_upper/pointcloud_before_sync",
+                    "/sensing/lidar/rear_lower/pointcloud_before_sync",
                 ],
                 "input_offset": [0.025, 0.025, 0.01, 0.0, 0.05, 0.05, 0.05, 0.05],
                 "timeout_sec": 0.075,
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_twist_topic_type": "twist",
+                "publish_synchronized_pointcloud": True,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    # set container to run all required components in the same process
-    container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[],
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
-    target_container = (
-        container
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("pointcloud_container_name")
-    )
-
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_component],
-        target_container=target_container,
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
 
-    return [container, concat_loader]
+    return [concat_loader]
 
 
 def generate_launch_description():
@@ -92,9 +75,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "True")
     add_launch_arg("use_intra_process", "True")
-    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg("individual_container_name", "concatenate_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml
index 51614263..274f6334 100644
--- a/aip_x2_launch/launch/sensing.launch.xml
+++ b/aip_x2_launch/launch/sensing.launch.xml
@@ -2,7 +2,6 @@
 
   <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="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
@@ -12,7 +11,6 @@
     <include file="$(find-pkg-share aip_x2_launch)/launch/lidar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
index ab32e0fe..56fc9dbd 100644
--- a/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
+++ b/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -18,6 +18,15 @@
           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
diff --git a/aip_xx1_launch/config/gyro_bias_estimator.param.yaml b/aip_xx1_launch/config/gyro_bias_estimator.param.yaml
new file mode 100644
index 00000000..d552569f
--- /dev/null
+++ b/aip_xx1_launch/config/gyro_bias_estimator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  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_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml
index e88e8d8e..29795ae1 100644
--- a/aip_xx1_launch/launch/imu.launch.xml
+++ b/aip_xx1_launch/launch/imu.launch.xml
@@ -44,10 +44,12 @@
     </include>
 
     <!-- Gyro Bias Estimator-->
+    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_launch)/config/gyro_bias_estimator.param.yaml"/>
     <include file="$(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>
 
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 7f77ad2d..b524b788 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -5,8 +5,8 @@
   <arg name="use_concat_filter" default="true"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="enable_blockage_diag" default="false"/>
 
   <group>
     <push-ros-namespace namespace="lidar"/>
@@ -23,6 +23,11 @@
         <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>
 
@@ -40,6 +45,11 @@
         <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>
 
@@ -57,6 +67,11 @@
         <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>
 
@@ -74,6 +89,11 @@
         <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>
 
@@ -98,7 +118,6 @@
       <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index c7a30175..433b7f58 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -20,7 +20,6 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 
@@ -52,30 +51,14 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    # set container to run all required components in the same process
-    container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
-    target_container = (
-        container
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("pointcloud_container_name")
-    )
-
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_component],
-        target_container=target_container,
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
 
-    return [container, concat_loader]
+    return [concat_loader]
 
 
 def generate_launch_description():
@@ -87,7 +70,6 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
-    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
     add_launch_arg("individual_container_name", "concatenate_container")
     add_launch_arg(
diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index 44477cae..8213cba8 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -3,7 +3,6 @@
   <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="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
@@ -13,7 +12,6 @@
     <include file="$(find-pkg-share aip_xx1_launch)/launch/lidar.launch.py">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/common_sensor_launch/CMakeLists.txt b/common_sensor_launch/CMakeLists.txt
index 60a50fc2..5e719ce7 100644
--- a/common_sensor_launch/CMakeLists.txt
+++ b/common_sensor_launch/CMakeLists.txt
@@ -12,4 +12,5 @@ endif()
 ament_auto_package(INSTALL_TO_SHARE
   config
   launch
+  config
 )
diff --git a/common_sensor_launch/config/blockage_diagnostics_param_file.yaml b/common_sensor_launch/config/blockage_diagnostics_param_file.yaml
new file mode 100644
index 00000000..e43b2039
--- /dev/null
+++ b/common_sensor_launch/config/blockage_diagnostics_param_file.yaml
@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    blockage_ratio_threshold: 0.1
+    blockage_count_threshold: 50
+    blockage_buffering_frames: 2
+    blockage_buffering_interval: 1
+    enable_dust_diag: false
+    publish_debug_image: false
+    dust_ratio_threshold: 0.2
+    dust_count_threshold: 10
+    dust_kernel_size: 2
+    dust_buffering_frames: 10
+    dust_buffering_interval: 1
+    blockage_kernel: 10
diff --git a/common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml b/common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml
index 5a30a6bb..7b344aaa 100644
--- a/common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml
+++ b/common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml
@@ -1,6 +1,7 @@
 /**:
   ros__parameters:
     update_rate_hz: 20.0
+    new_frame_id: "base_link"
     use_twist_compensation: true
     use_twist_yaw_compensation: false
     static_object_speed_threshold: 1.0
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 7b6ee0c2..1990f695 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -25,6 +25,7 @@
 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
 
 
@@ -54,14 +55,11 @@ def get_vehicle_info(context):
     return p
 
 
-def get_vehicle_mirror_info(context):
-    path = LaunchConfiguration("vehicle_mirror_param_file").perform(context)
-    with open(path, "r") as f:
-        p = yaml.safe_load(f)["/**"]["ros__parameters"]
-    return p
-
-
 def launch_setup(context, *args, **kwargs):
+    def load_composable_node_param(param_path):
+        with open(LaunchConfiguration(param_path).perform(context), "r") as f:
+            return yaml.safe_load(f)["/**"]["ros__parameters"]
+
     def create_parameter_dict(*args):
         result = {}
         for x in args:
@@ -183,7 +181,7 @@ def create_parameter_dict(*args):
         )
     )
 
-    mirror_info = get_vehicle_mirror_info(context)
+    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"]
@@ -284,13 +282,43 @@ def create_parameter_dict(*args):
         ],
     )
 
+    blockage_diag_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        plugin="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")),
+    )
 
-    return [container, driver_component_loader]
+    return [container, driver_component_loader, blockage_diag_loader]
 
 
 def generate_launch_description():
@@ -336,6 +364,17 @@ def add_launch_arg(name: str, default_value=None, description=None):
     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")
+    add_launch_arg("horizontal_ring_id", "64")
+    add_launch_arg("vertical_bins", "128")
+    add_launch_arg("is_channel_order_top2down", "true")
+    add_launch_arg("horizontal_resolution", "0.4")
+    add_launch_arg(
+        "blockage_diagnostics_param_file",
+        [FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics_param_file.yaml"],
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
index faa32305..a105b0a2 100644
--- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -16,6 +16,11 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="vertical_bins" default="16"/>
+  <arg name="horizontal_ring_id" default="0"/>
+  <arg name="is_channel_order_top2down" default="false"/>
+  <arg name="horizontal_resolution" default="0.4"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -34,6 +39,11 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="vertical_bins" value="$(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)"/>
+    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
+    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
index c3db6428..3544d16e 100644
--- a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
@@ -16,6 +16,11 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="vertical_bins" default="32"/>
+  <arg name="horizontal_ring_id" default="0"/>
+  <arg name="is_channel_order_top2down" default="false"/>
+  <arg name="horizontal_resolution" default="0.4"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -34,6 +39,11 @@
     <arg name="use_intra_process" value="false"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="vertical_bins" value="$(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)"/>
+    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
+    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
index f1d32469..01c8affa 100644
--- a/common_sensor_launch/launch/velodyne_VLS128.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -16,6 +16,11 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="vertical_bins" default="128"/>
+  <arg name="horizontal_ring_id" default="64"/>
+  <arg name="is_channel_order_top2down" default="false"/>
+  <arg name="horizontal_resolution" default="0.4"/>
+  <arg name="enable_blockage_diag" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -34,6 +39,11 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="vertical_bins" value="$(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)"/>
+    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
+    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
   </include>
 
   <!-- Velodyne Monitor -->