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 54c04501..f726354b 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
@@ -13,15 +13,15 @@
     synchronized_pointcloud_postfix: pointcloud
     input_twist_topic_type: twist
     input_topics: [
+                    "/sensing/lidar/rear_upper/pointcloud_before_sync", # 0.044
+                    "/sensing/lidar/rear_lower/pointcloud_before_sync", # 0.049
                     "/sensing/lidar/left_upper/pointcloud_before_sync", # 0.05
                     "/sensing/lidar/left_lower/pointcloud_before_sync", # 0.05
-                    "/sensing/lidar/front_upper/pointcloud_before_sync", # 0.025
+                    "/sensing/lidar/front_upper/pointcloud_before_sync", # 0.075
                     "/sensing/lidar/front_lower/pointcloud_before_sync", # 0.074
-                    "/sensing/lidar/right_upper/pointcloud_before_sync", # 0.091
+                    "/sensing/lidar/right_upper/pointcloud_before_sync", # 0.090
                     "/sensing/lidar/right_lower/pointcloud_before_sync", # 0.00
-                    "/sensing/lidar/rear_upper/pointcloud_before_sync", # 0.055
-                    "/sensing/lidar/rear_lower/pointcloud_before_sync", # 0.065
                 ]
     output_frame: base_link
-    lidar_timestamp_offsets: [0.0, 0.0, 0.075, 0.024, 0.041, 0.05, 0.005, 0.015]
+    lidar_timestamp_offsets: [0.0, 0.005, 0.006, 0.006, 0.031, 0.03, 0.046, 0.056]
     lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]