diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml
index 2795ceea..0f3ea457 100644
--- a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml
+++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml
@@ -9,12 +9,12 @@
 
     common_crop_box_filter:
       parameters:
-        min_x: -50.0
-        max_x: 100.0
-        min_y: -50.0
-        max_y: 50.0
-        max_z: 2.5
-        min_z: -0.5
+        min_x: -100.0
+        max_x: 150.0
+        min_y: -70.0
+        max_y: 70.0
+        margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
+        margin_min_z: -2.5 # to extend the crop box min_z from ground
         negative: False
 
     common_ground_filter:
diff --git a/aip_x1_1_launch/launch/pandar_node_container.launch.py b/aip_x1_1_launch/launch/pandar_node_container.launch.py
index 4f51035b..fc102338 100644
--- a/aip_x1_1_launch/launch/pandar_node_container.launch.py
+++ b/aip_x1_1_launch/launch/pandar_node_container.launch.py
@@ -39,6 +39,7 @@ def get_pandar_monitor_info():
         p = yaml.safe_load(f)["/**"]["ros__parameters"]
     return p
 
+
 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
@@ -56,6 +57,7 @@ def get_vehicle_info(context):
     p["max_height_offset"] = gp["vehicle_height"]
     return p
 
+
 def launch_setup(context, *args, **kwargs):
     def create_parameter_dict(*args):
         result = {}
diff --git a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py
index eab446b9..dd2a2c17 100644
--- a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py
@@ -31,7 +31,7 @@ def launch_setup(context, *args, **kwargs):
         name="concatenate_data",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
-            ("output", "concatenated/pointcloud")
+            ("output", "concatenated/pointcloud"),
         ],
         parameters=[
             {
diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml
index 7c636c0e..020add57 100644
--- a/common_sensor_launch/package.xml
+++ b/common_sensor_launch/package.xml
@@ -11,10 +11,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>dummy_diag_publisher</exec_depend>
-  <!-- <exec_depend>nebula_sensor_driver</exec_depend> -->
   <exec_depend>radar_tracks_msgs_converter</exec_depend>
   <exec_depend>radar_tracks_noise_filter</exec_depend>
   <exec_depend>velodyne_monitor</exec_depend>
+  <!-- <exec_depend>nebula_sensor_driver</exec_depend> -->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>