diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index c4297b05..bdb5507f 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -52,9 +52,9 @@
         <arg name="sensor_ip" value="192.168.120.211" />
         <arg name="data_port" value="2331" />
         <arg name="gnss_port" value="10131" />
-        <arg name="scan_phase" value="280.0" />
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
+        <arg name="scan_phase" value="310.0" />
+        <arg name="cloud_min_angle" value="120"/>
+        <arg name="cloud_max_angle" value="300"/>
         <arg name="min_range" value="0.1"/>
         <arg name="max_range" value="20.0"/>
         <!--arg name="blockage_range" value="[90.0, 270.0]"/-->
@@ -250,9 +250,9 @@
         <arg name="sensor_ip" value="192.168.120.214" />
         <arg name="data_port" value="2334" />
         <arg name="gnss_port" value="10134" />
-        <arg name="scan_phase" value="180.0" />
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
+        <arg name="scan_phase" value="200.0" />
+        <arg name="cloud_min_angle" value="110"/>
+        <arg name="cloud_max_angle" value="290"/>
         <arg name="min_range" value="0.1"/>
         <arg name="max_range" value="20.0"/>
         <!--arg name="blockage_range" value="[90.0, 270.0]"/-->