diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index 2fbe717c..87c84f46 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -36,11 +36,18 @@ 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/left/outlier_filtered/pointcloud",
+                    "/sensing/lidar/right/outlier_filtered/pointcloud",
                     "/sensing/lidar/rear/outlier_filtered/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
+                "input_offset": [
+                    0.055,
+                    0.025,
+                    0.025,
+                    0.025,
+                ],  # each sensor will wait 20, 50, 50, 50ms
+                "timeout_sec": 0.075,  # set shorter than 100ms
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],