diff --git a/aip_xx1_description/config/sensor_kit_calibration.yaml b/aip_xx1_description/config/sensor_kit_calibration.yaml
index 88288533..b3c920c6 100644
--- a/aip_xx1_description/config/sensor_kit_calibration.yaml
+++ b/aip_xx1_description/config/sensor_kit_calibration.yaml
@@ -1,113 +1,92 @@
 sensor_kit_base_link:
   camera0/camera_link:
-    x: 0.372 # Design Value
-    y: 0.0 # Design Value
-    z: -0.207 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
+    x: 0.10731
+    y: 0.56343
+    z: -0.27697
+    roll: -0.025
+    pitch: 0.315
+    yaw: 1.035
   camera1/camera_link:
-    x: 0.372 # Design Value
-    y: 0.045 # Design Value
-    z: -0.207 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
+    x: -0.10731
+    y: -0.56343
+    z: -0.27697
+    roll: -0.025
+    pitch: 0.32
+    yaw: -2.12
   camera2/camera_link:
-    x: 0.372 # Design Value
-    y: -0.045 # Design Value
-    z: -0.207 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
+    x: 0.10731
+    y: -0.56343
+    z: -0.27697
+    roll: -0.00
+    pitch: 0.335
+    yaw: -1.04
   camera3/camera_link:
-    x: 0.133 # Design Value
-    y: 0.498 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.872665 # Design Value
+    x: -0.10731
+    y: 0.56343
+    z: -0.27697
+    roll: 0.0
+    pitch: 0.325
+    yaw: 2.0943951
   camera4/camera_link:
-    x: 0.133 # Design Value
-    y: -0.498 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -0.872665 # Design Value
+    x: 0.07356
+    y: 0.0
+    z: -0.0525
+    roll: 0.0
+    pitch: -0.03
+    yaw: -0.005
   camera5/camera_link:
-    x: 0.095 # Design Value
-    y: 0.524 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 1.0472 # Design Value
+    x: -0.07356
+    y: 0.0
+    z: -0.0525
+    roll: 0.0
+    pitch: -0.01
+    yaw: 3.125
   camera6/camera_link:
-    x: 0.095 # Design Value
-    y: -0.524 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -1.0472 # Design Value
+    x: 0.05
+    y: 0.0175
+    z: -0.1
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
   camera7/camera_link:
-    x: -0.345 # Design Value
-    y: 0.244 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.70526 # Design Value
-  camera8/camera_link:
-    x: -0.345 # Design Value
-    y: -0.244 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -2.70526 # Design Value
-  camera9/camera_link:
-    x: -0.362 # Design Value
-    y: 0.202 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.79253 # Design Value
-  camera10/camera_link:
-    x: -0.362 # Design Value
-    y: -0.202 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -2.79253 # Design Value
-  hesai_top_base_link:
-    x: 0.0 # Design Value
-    y: 0.0 # Design Value
-    z: 0.0 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 4.36332298038 # Design Value
-  hesai_left_base_link:
-    x: 0.0 # Design Value
-    y: 0.564 # Design Value
-    z: -0.300 # Design Value
-    roll: 0.872665 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 3.14159265359 # Design Value
-  hesai_right_base_link:
-    x: 0.0 # Design Value
-    y: -0.564 # Design Value
-    z: -0.300 # Design Value
-    roll: 0.69813132679 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
+    x: 0.05
+    y: -0.0175
+    z: -0.1
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  velodyne_top_base_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.575
+  velodyne_left_base_link:
+    x: 0.0
+    y: 0.56362
+    z: -0.30555
+    roll: -0.02
+    pitch: 0.71
+    yaw: 1.575
+  velodyne_right_base_link:
+    x: 0.0
+    y: -0.56362
+    z: -0.30555
+    roll: -0.01
+    pitch: 0.71
+    yaw: -1.580
   gnss_link:
-    x: -0.279 # Design Value
-    y: 0.0 # Design Value
-    z: -0.160 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
+    x: -0.1
+    y: 0.0
+    z: -0.2
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
   tamagawa/imu_link:
-    x: -0.129 # Design Value
-    y: 0.0 # Design Value
-    z: -0.160 # Design Value
+    x: 0.0
+    y: 0.0
+    z: 0.0
     roll: 3.14159265359
-    pitch: 0.0 # Design Value
-    yaw: 3.14159265359 # Design Value
+    pitch: 0.0
+    yaw: 3.14159265359
\ No newline at end of file
diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
index a57d3ea9..c7389f7e 100644
--- a/aip_xx1_description/config/sensors_calibration.yaml
+++ b/aip_xx1_description/config/sensors_calibration.yaml
@@ -1,71 +1,36 @@
 base_link:
+  ars408_front_center:
+    x: 3.8
+    y: 0.0
+    z: 0.5
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
   sensor_kit_base_link:
     x: 0.9
     y: 0.0
     z: 2.0
+    roll: -0.001
+    pitch: 0.015
+    yaw: -0.0364
+  livox_front_right_base_link:
+    x: 3.290
+    y: -0.65485
+    z: 0.3216
     roll: 0.0
     pitch: 0.0
-    yaw: 0.0
-  hesai_front_left_base_link:
-    x: 3.373 # Design Value
-    y: 0.740 # Design Value
-    z: 0.5482
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.44346132679 # Design Value
-  hesai_front_right_base_link:
-    x: 3.373 # Design Value
-    y: -0.740 # Design Value
-    z: 0.5482
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.69813132679 # Design Value
-  # velodyne_rear_base_link: #unused
-  #   x: -0.358
-  #   y: 0.0
-  #   z: 1.631
-  #   roll: -0.02
-  #   pitch: 0.7281317
-  #   yaw: 3.141592
-  front_center/radar_link:
-    x: 3.520 # Design Value
-    y: 0.0 # Design Value
-    z: 0.6352
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
-  front_right/radar_link:
-    x: 3.384 # Design Value
-    y: -0.7775 # Design Value
-    z: 0.410
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -1.22173 # Design Value
-  front_left/radar_link:
-    x: 3.384 # Design Value
-    y: 0.7775 # Design Value
-    z: 0.410
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 1.22173 # Design Value
-  rear_center/radar_link:
-    x: -0.858 # Design Value
-    y: 0.0 # Design Value
-    z: 0.520
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 3.141592 # Design Value
-  rear_right/radar_link:
-    x: -0.782 # Design Value
-    y: -0.761 # Design Value
-    z: 0.520
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -2.0944 # Design Value
-  rear_left/radar_link:
-    x: -0.782 # Design Value
-    y: 0.761 # Design Value
-    z: 0.520
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.0944 # Design Value
+    yaw: -0.872664444
+  livox_front_left_base_link:
+    x: 3.290
+    y: 0.65485
+    z: 0.3016
+    roll: -0.021
+    pitch: 0.05
+    yaw: 0.872664444
+  velodyne_rear_base_link:
+    x: -0.358
+    y: 0.0
+    z: 1.631
+    roll: -0.02
+    pitch: 0.7281317
+    yaw: 3.141592
\ No newline at end of file
diff --git a/aip_xx1_description/urdf/sensor_kit.xacro b/aip_xx1_description/urdf/sensor_kit.xacro
index 8830a4d3..e4a6c40d 100644
--- a/aip_xx1_description/urdf/sensor_kit.xacro
+++ b/aip_xx1_description/urdf/sensor_kit.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_ot128.xacro"/>
+    <xacro:include filename="$(find velodyne_description)/urdf/HDL-32E.urdf.xacro"/>
     <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+    <xacro:include filename="$(find vls_description)/urdf/VLS-128.urdf.xacro"/>
     <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
     <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
 
@@ -25,37 +25,57 @@
     <!-- sensor -->
     <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
     <!-- lidar -->
-    <xacro:PandarOT-128
-      name="hesai_top"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_top_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_top_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_top_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_top_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_top_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_top_base_link']['yaw']}"
-    />
-    <xacro:PandarXT-32
-      name="hesai_side_right"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_right_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_right_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_right_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_right_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_right_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_right_base_link']['yaw']}"
-    />
-    <xacro:PandarXT-32
-      name="hesai_side_left"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_left_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_left_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_left_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_left_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_left_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_left_base_link']['yaw']}"
-    />
-
+    <xacro:VLS-128
+      parent="sensor_kit_base_link"
+      name="velodyne_top"
+      topic="/points_raw"
+      hz="10"
+      samples="220"
+      gpu="$(arg gpu)"
+    >
+      <origin
+        xyz="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['x']}
+             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['y']}
+             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['z']}"
+        rpy="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['roll']}
+             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['pitch']}
+             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['yaw']}"
+      />
+    </xacro:VLS-128>
+    <xacro:VLP-16
+      parent="sensor_kit_base_link"
+      name="velodyne_left"
+      topic="/points_raw"
+      hz="10"
+      samples="220"
+      gpu="$(arg gpu)"
+    >
+      <origin
+        xyz="${calibration['sensor_kit_base_link']['velodyne_left_base_link']['x']}
+             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['y']}
+             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['z']}"
+        rpy="${calibration['sensor_kit_base_link']['velodyne_left_base_link']['roll']}
+             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['pitch']}
+             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['yaw']}"
+      />
+    </xacro:VLP-16>
+    <xacro:VLP-16
+      parent="sensor_kit_base_link"
+      name="velodyne_right"
+      topic="/points_raw"
+      hz="10"
+      samples="220"
+      gpu="$(arg gpu)"
+    >
+      <origin
+        xyz="${calibration['sensor_kit_base_link']['velodyne_right_base_link']['x']}
+             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['y']}
+             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['z']}"
+        rpy="${calibration['sensor_kit_base_link']['velodyne_right_base_link']['roll']}
+             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['pitch']}
+             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['yaw']}"
+      />
+    </xacro:VLP-16>
     <!-- camera -->
     <xacro:monocular_camera_macro
       name="camera0/camera"
@@ -177,51 +197,6 @@
       height="400"
       fov="1.3"
     />
-    <xacro:monocular_camera_macro
-      name="camera8/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera8/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera8/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera8/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera8/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera8/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera8/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera9/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera9/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera9/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera9/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera9/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera9/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera9/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera10/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera10/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera10/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera10/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera10/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera10/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera10/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
     <!-- gnss -->
     <xacro:imu_macro
       name="gnss"
@@ -250,4 +225,4 @@
     />
   </xacro:macro>
 
-</robot>
+</robot>
\ No newline at end of file
diff --git a/aip_xx1_description/urdf/sensors.xacro b/aip_xx1_description/urdf/sensors.xacro
index 64dbf6bb..52299371 100644
--- a/aip_xx1_description/urdf/sensors.xacro
+++ b/aip_xx1_description/urdf/sensors.xacro
@@ -15,8 +15,8 @@
     pitch="${calibration['base_link']['sensor_kit_base_link']['pitch']}"
     yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
   />
-  <!-- embedded lidar sensors -->
-  <!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+  <!-- embedded sensors -->
+  <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
   <xacro:VLP-16
     parent="base_link"
     name="velodyne_rear"
@@ -33,89 +33,40 @@
            ${calibration['base_link']['velodyne_rear_base_link']['pitch']}
            ${calibration['base_link']['velodyne_rear_base_link']['yaw']}"
     />
-  </xacro:VLP-16> -->
-  <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
-  <xacro:PandarXT-32
-    name="hesai_front_left"
+  </xacro:VLP-16>
+  <xacro:include filename="$(find livox_description)/urdf/livox_horizon.xacro"/>
+  <xacro:livox_horizon_macro
+    name="livox_front_left"
     parent="base_link"
-    x="${calibration['base_link']['hesai_front_left_base_link']['x']}"
-    y="${calibration['base_link']['hesai_front_left_base_link']['y']}"
-    z="${calibration['base_link']['hesai_front_left_base_link']['z']}"
-    roll="${calibration['base_link']['hesai_front_left_base_link']['roll']}"
-    pitch="${calibration['base_link']['hesai_front_left_base_link']['pitch']}"
-    yaw="${calibration['base_link']['hesai_front_left_base_link']['yaw']}"
+    x="${calibration['base_link']['livox_front_left_base_link']['x']}"
+    y="${calibration['base_link']['livox_front_left_base_link']['y']}"
+    z="${calibration['base_link']['livox_front_left_base_link']['z']}"
+    roll="${calibration['base_link']['livox_front_left_base_link']['roll']}"
+    pitch="${calibration['base_link']['livox_front_left_base_link']['pitch']}"
+    yaw="${calibration['base_link']['livox_front_left_base_link']['yaw']}"
   />
-  <xacro:PandarXT-32
-    name="hesai_front_right"
+  <xacro:livox_horizon_macro
+    name="livox_front_right"
     parent="base_link"
-    x="${calibration['base_link']['hesai_front_right_base_link']['x']}"
-    y="${calibration['base_link']['hesai_front_right_base_link']['y']}"
-    z="${calibration['base_link']['hesai_front_right_base_link']['z']}"
-    roll="${calibration['base_link']['hesai_front_right_base_link']['roll']}"
-    pitch="${calibration['base_link']['hesai_front_right_base_link']['pitch']}"
-    yaw="${calibration['base_link']['hesai_front_right_base_link']['yaw']}"
+    x="${calibration['base_link']['livox_front_right_base_link']['x']}"
+    y="${calibration['base_link']['livox_front_right_base_link']['y']}"
+    z="${calibration['base_link']['livox_front_right_base_link']['z']}"
+    roll="${calibration['base_link']['livox_front_right_base_link']['roll']}"
+    pitch="${calibration['base_link']['livox_front_right_base_link']['pitch']}"
+    yaw="${calibration['base_link']['livox_front_right_base_link']['yaw']}"
   />
 
-  <!-- embedded radar sensors -->
-  <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
+  <!-- radar -->
+  <xacro:include filename="$(find aip_xx1_description)/urdf/radar.xacro"/>
   <xacro:radar_macro
-    name="front_center/radar_link"
+    name="ars408_front_center"
     parent="base_link"
-    x="${calibration['base_link']['front_center/radar_link']['x']}"
-    y="${calibration['base_link']['front_center/radar_link']['y']}"
-    z="${calibration['base_link']['front_center/radar_link']['z']}"
-    roll="${calibration['base_link']['front_center/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_center/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_center/radar_link']['yaw']}"
+    x="${calibration['base_link']['ars408_front_center']['x']}"
+    y="${calibration['base_link']['ars408_front_center']['y']}"
+    z="${calibration['base_link']['ars408_front_center']['z']}"
+    roll="${calibration['base_link']['ars408_front_center']['roll']}"
+    pitch="${calibration['base_link']['ars408_front_center']['pitch']}"
+    yaw="${calibration['base_link']['ars408_front_center']['yaw']}"
   />
-  <xacro:radar_macro
-    name="front_right/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['front_right/radar_link']['x']}"
-    y="${calibration['base_link']['front_right/radar_link']['y']}"
-    z="${calibration['base_link']['front_right/radar_link']['z']}"
-    roll="${calibration['base_link']['front_right/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_right/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_right/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="front_left/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['front_left/radar_link']['x']}"
-    y="${calibration['base_link']['front_left/radar_link']['y']}"
-    z="${calibration['base_link']['front_left/radar_link']['z']}"
-    roll="${calibration['base_link']['front_left/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_left/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_left/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_center/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_center/radar_link']['x']}"
-    y="${calibration['base_link']['rear_center/radar_link']['y']}"
-    z="${calibration['base_link']['rear_center/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_center/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_center/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_center/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_right/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_right/radar_link']['x']}"
-    y="${calibration['base_link']['rear_right/radar_link']['y']}"
-    z="${calibration['base_link']['rear_right/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_right/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_right/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_right/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_left/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_left/radar_link']['x']}"
-    y="${calibration['base_link']['rear_left/radar_link']['y']}"
-    z="${calibration['base_link']['rear_left/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_left/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_left/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_left/radar_link']['yaw']}"
-  />
-</robot>
+
+</robot>
\ No newline at end of file
diff --git a/aip_xx1_gen2_description/CMakeLists.txt b/aip_xx1_gen2_description/CMakeLists.txt
new file mode 100644
index 00000000..50723262
--- /dev/null
+++ b/aip_xx1_gen2_description/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(aip_xx1_description)
+
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+    urdf
+    config
+)
diff --git a/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
new file mode 100644
index 00000000..88288533
--- /dev/null
+++ b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
@@ -0,0 +1,113 @@
+sensor_kit_base_link:
+  camera0/camera_link:
+    x: 0.372 # Design Value
+    y: 0.0 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera1/camera_link:
+    x: 0.372 # Design Value
+    y: 0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera2/camera_link:
+    x: 0.372 # Design Value
+    y: -0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera3/camera_link:
+    x: 0.133 # Design Value
+    y: 0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.872665 # Design Value
+  camera4/camera_link:
+    x: 0.133 # Design Value
+    y: -0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -0.872665 # Design Value
+  camera5/camera_link:
+    x: 0.095 # Design Value
+    y: 0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.0472 # Design Value
+  camera6/camera_link:
+    x: 0.095 # Design Value
+    y: -0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.0472 # Design Value
+  camera7/camera_link:
+    x: -0.345 # Design Value
+    y: 0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.70526 # Design Value
+  camera8/camera_link:
+    x: -0.345 # Design Value
+    y: -0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.70526 # Design Value
+  camera9/camera_link:
+    x: -0.362 # Design Value
+    y: 0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.79253 # Design Value
+  camera10/camera_link:
+    x: -0.362 # Design Value
+    y: -0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.79253 # Design Value
+  hesai_top_base_link:
+    x: 0.0 # Design Value
+    y: 0.0 # Design Value
+    z: 0.0 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 4.36332298038 # Design Value
+  hesai_left_base_link:
+    x: 0.0 # Design Value
+    y: 0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.872665 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
+  hesai_right_base_link:
+    x: 0.0 # Design Value
+    y: -0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.69813132679 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  gnss_link:
+    x: -0.279 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  tamagawa/imu_link:
+    x: -0.129 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
+    roll: 3.14159265359
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
diff --git a/aip_xx1_gen2_description/config/sensors_calibration.yaml b/aip_xx1_gen2_description/config/sensors_calibration.yaml
new file mode 100644
index 00000000..a57d3ea9
--- /dev/null
+++ b/aip_xx1_gen2_description/config/sensors_calibration.yaml
@@ -0,0 +1,71 @@
+base_link:
+  sensor_kit_base_link:
+    x: 0.9
+    y: 0.0
+    z: 2.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  hesai_front_left_base_link:
+    x: 3.373 # Design Value
+    y: 0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.44346132679 # Design Value
+  hesai_front_right_base_link:
+    x: 3.373 # Design Value
+    y: -0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.69813132679 # Design Value
+  # velodyne_rear_base_link: #unused
+  #   x: -0.358
+  #   y: 0.0
+  #   z: 1.631
+  #   roll: -0.02
+  #   pitch: 0.7281317
+  #   yaw: 3.141592
+  front_center/radar_link:
+    x: 3.520 # Design Value
+    y: 0.0 # Design Value
+    z: 0.6352
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  front_right/radar_link:
+    x: 3.384 # Design Value
+    y: -0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.22173 # Design Value
+  front_left/radar_link:
+    x: 3.384 # Design Value
+    y: 0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.22173 # Design Value
+  rear_center/radar_link:
+    x: -0.858 # Design Value
+    y: 0.0 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.141592 # Design Value
+  rear_right/radar_link:
+    x: -0.782 # Design Value
+    y: -0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.0944 # Design Value
+  rear_left/radar_link:
+    x: -0.782 # Design Value
+    y: 0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.0944 # Design Value
diff --git a/aip_xx1_gen2_description/package.xml b/aip_xx1_gen2_description/package.xml
new file mode 100644
index 00000000..b35b48e0
--- /dev/null
+++ b/aip_xx1_gen2_description/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>aip_xx1_description</name>
+  <version>0.1.0</version>
+  <description>The aip_xx1_description package</description>
+
+  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>velodyne_description</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/aip_xx1_gen2_description/urdf/sensor_kit.xacro b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
new file mode 100644
index 00000000..8830a4d3
--- /dev/null
+++ b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
@@ -0,0 +1,253 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_ot128.xacro"/>
+    <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+    <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
+    <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
+
+    <!-- <xacro:property name="pi" value="3.1415926835897931"/> -->
+    <xacro:arg name="gpu" default="false"/>
+    <xacro:arg name="config_dir" default="$(find aip_xx1_description)/config"/>
+
+    <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
+
+    <joint name="${sensor_kit_base_link}_joint" type="fixed">
+      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
+      <parent link="${parent}"/>
+      <child link="${sensor_kit_base_link}"/>
+    </joint>
+    <link name="${sensor_kit_base_link}">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </link>
+
+    <!-- sensor -->
+    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
+    <!-- lidar -->
+    <xacro:PandarOT-128
+      name="hesai_top"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_top_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_top_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_top_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_top_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_top_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_top_base_link']['yaw']}"
+    />
+    <xacro:PandarXT-32
+      name="hesai_side_right"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_right_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_right_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_right_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_right_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_right_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_right_base_link']['yaw']}"
+    />
+    <xacro:PandarXT-32
+      name="hesai_side_left"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_left_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_left_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_left_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_left_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_left_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_left_base_link']['yaw']}"
+    />
+
+    <!-- camera -->
+    <xacro:monocular_camera_macro
+      name="camera0/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera0/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera0/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera0/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera0/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera0/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera0/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera1/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera1/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera1/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera1/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera1/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera1/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera1/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera2/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera2/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera2/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera2/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera2/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera2/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera2/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera3/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera3/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera3/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera3/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera3/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera3/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera3/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera4/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera4/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera4/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera4/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera4/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera4/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera4/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera5/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera5/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera5/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera5/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera5/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera5/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera5/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera6/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera6/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera6/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera6/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera6/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera6/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera6/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera7/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera7/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera7/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera7/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera7/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera7/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera7/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera8/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera8/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera8/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera8/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera8/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera8/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera8/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera9/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera9/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera9/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera9/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera9/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera9/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera9/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera10/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera10/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera10/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera10/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera10/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera10/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera10/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <!-- gnss -->
+    <xacro:imu_macro
+      name="gnss"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['gnss_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['gnss_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['gnss_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['gnss_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['gnss_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['gnss_link']['yaw']}"
+      fps="100"
+    />
+    <!-- imu -->
+    <xacro:imu_macro
+      name="tamagawa/imu"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['yaw']}"
+      fps="100"
+    />
+  </xacro:macro>
+
+</robot>
diff --git a/aip_xx1_gen2_description/urdf/sensors.xacro b/aip_xx1_gen2_description/urdf/sensors.xacro
new file mode 100644
index 00000000..64dbf6bb
--- /dev/null
+++ b/aip_xx1_gen2_description/urdf/sensors.xacro
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="vehicle" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="config_dir" default="$(find aip_xx1_description)/config"/>
+  <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>
+
+  <!-- sensor kit -->
+  <xacro:include filename="sensor_kit.xacro"/>
+  <xacro:sensor_kit_macro
+    parent="base_link"
+    x="${calibration['base_link']['sensor_kit_base_link']['x']}"
+    y="${calibration['base_link']['sensor_kit_base_link']['y']}"
+    z="${calibration['base_link']['sensor_kit_base_link']['z']}"
+    roll="${calibration['base_link']['sensor_kit_base_link']['roll']}"
+    pitch="${calibration['base_link']['sensor_kit_base_link']['pitch']}"
+    yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
+  />
+  <!-- embedded lidar sensors -->
+  <!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+  <xacro:VLP-16
+    parent="base_link"
+    name="velodyne_rear"
+    topic="velodyne_rear/velodyne_points"
+    hz="10"
+    samples="220"
+    gpu="false"
+  >
+    <origin
+      xyz="${calibration['base_link']['velodyne_rear_base_link']['x']}
+           ${calibration['base_link']['velodyne_rear_base_link']['y']}
+           ${calibration['base_link']['velodyne_rear_base_link']['z']}"
+      rpy="${calibration['base_link']['velodyne_rear_base_link']['roll']}
+           ${calibration['base_link']['velodyne_rear_base_link']['pitch']}
+           ${calibration['base_link']['velodyne_rear_base_link']['yaw']}"
+    />
+  </xacro:VLP-16> -->
+  <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
+  <xacro:PandarXT-32
+    name="hesai_front_left"
+    parent="base_link"
+    x="${calibration['base_link']['hesai_front_left_base_link']['x']}"
+    y="${calibration['base_link']['hesai_front_left_base_link']['y']}"
+    z="${calibration['base_link']['hesai_front_left_base_link']['z']}"
+    roll="${calibration['base_link']['hesai_front_left_base_link']['roll']}"
+    pitch="${calibration['base_link']['hesai_front_left_base_link']['pitch']}"
+    yaw="${calibration['base_link']['hesai_front_left_base_link']['yaw']}"
+  />
+  <xacro:PandarXT-32
+    name="hesai_front_right"
+    parent="base_link"
+    x="${calibration['base_link']['hesai_front_right_base_link']['x']}"
+    y="${calibration['base_link']['hesai_front_right_base_link']['y']}"
+    z="${calibration['base_link']['hesai_front_right_base_link']['z']}"
+    roll="${calibration['base_link']['hesai_front_right_base_link']['roll']}"
+    pitch="${calibration['base_link']['hesai_front_right_base_link']['pitch']}"
+    yaw="${calibration['base_link']['hesai_front_right_base_link']['yaw']}"
+  />
+
+  <!-- embedded radar sensors -->
+  <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
+  <xacro:radar_macro
+    name="front_center/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['front_center/radar_link']['x']}"
+    y="${calibration['base_link']['front_center/radar_link']['y']}"
+    z="${calibration['base_link']['front_center/radar_link']['z']}"
+    roll="${calibration['base_link']['front_center/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_center/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_center/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="front_right/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['front_right/radar_link']['x']}"
+    y="${calibration['base_link']['front_right/radar_link']['y']}"
+    z="${calibration['base_link']['front_right/radar_link']['z']}"
+    roll="${calibration['base_link']['front_right/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_right/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_right/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="front_left/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['front_left/radar_link']['x']}"
+    y="${calibration['base_link']['front_left/radar_link']['y']}"
+    z="${calibration['base_link']['front_left/radar_link']['z']}"
+    roll="${calibration['base_link']['front_left/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_left/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_left/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="rear_center/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['rear_center/radar_link']['x']}"
+    y="${calibration['base_link']['rear_center/radar_link']['y']}"
+    z="${calibration['base_link']['rear_center/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_center/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_center/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_center/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="rear_right/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['rear_right/radar_link']['x']}"
+    y="${calibration['base_link']['rear_right/radar_link']['y']}"
+    z="${calibration['base_link']['rear_right/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_right/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_right/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_right/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="rear_left/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['rear_left/radar_link']['x']}"
+    y="${calibration['base_link']['rear_left/radar_link']['y']}"
+    z="${calibration['base_link']['rear_left/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_left/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_left/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_left/radar_link']['yaw']}"
+  />
+</robot>
diff --git a/aip_xx1_launch/config/radar_simple_object_merger.param.yaml b/aip_xx1_launch/config/radar_simple_object_merger.param.yaml
deleted file mode 100644
index a817e0b7..00000000
--- a/aip_xx1_launch/config/radar_simple_object_merger.param.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-/**:
-  ros__parameters:
-    update_rate_hz: 20.0
-    new_frame_id: "base_link"
-    timeout_threshold: 1.0
-    input_topics: ["/sensing/radar/front_center/detected_objects", "/sensing/radar/front_left/detected_objects", "/sensing/radar/rear_left/detected_objects", "/sensing/radar/rear_center/detected_objects", "/sensing/radar/rear_right/detected_objects", "/sensing/radar/front_right/detected_objects"]