diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 4859302c..defb8f42 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -24,7 +24,7 @@
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
-
+<!--
     <group>
       <push-ros-namespace namespace="left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
@@ -74,7 +74,7 @@
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
-    </group>
+    </group> -->
 
     <!-- <group>
       <push-ros-namespace namespace="front_left"/>
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index 388a0c98..572bf449 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -39,9 +39,9 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/outlier_filtered/pointcloud",
-                    "/sensing/lidar/left/outlier_filtered/pointcloud",
-                    "/sensing/lidar/right/outlier_filtered/pointcloud",
-                    "/sensing/lidar/rear/outlier_filtered/pointcloud",
+                    # "/sensing/lidar/left/outlier_filtered/pointcloud",
+                    # "/sensing/lidar/right/outlier_filtered/pointcloud",
+                    # "/sensing/lidar/rear/outlier_filtered/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_offset": [