diff --git a/aip_x1_launch/launch/new_livox_horizon.launch.py b/aip_x1_launch/launch/new_livox_horizon.launch.py
index de3f8b9a..922d23ba 100644
--- a/aip_x1_launch/launch/new_livox_horizon.launch.py
+++ b/aip_x1_launch/launch/new_livox_horizon.launch.py
@@ -52,12 +52,12 @@ def get_crop_box_min_range_component(context, livox_frame_id):
         name="crop_box_filter_min_range",
         remappings=[
             ("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"),
-            ("output", "min_range_cropped/pointcloud"),
+            ("output", "min_range_cropped/pointcloud_before_sync"),
         ],
         parameters=[
             {
                 "input_frame": livox_frame_id,
-                "output_frame": LaunchConfiguration("base_frame"),
+                "output_frame": LaunchConfiguration("frame_id"),
                 "min_x": 0.0,
                 "max_x": LaunchConfiguration("min_range"),
                 "min_y": -2.0,
diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
index ff012c8a..8d799261 100644
--- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -36,14 +36,15 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/front_left/min_range_cropped/pointcloud",
-                    "/sensing/lidar/front_right/min_range_cropped/pointcloud",
-                    "/sensing/lidar/front_center/min_range_cropped/pointcloud",
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    "/sensing/lidar/front_left/min_range_cropped/pointcloud_before_sync",
+                    "/sensing/lidar/front_right/min_range_cropped/pointcloud_before_sync",
+                    "/sensing/lidar/front_center/min_range_cropped/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "timeout_sec": 1.0,
                 "input_twist_topic_type": "twist",
+                "publish_synchronized_pointcloud": True,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py
index 56b35116..2ce274b1 100644
--- a/aip_x1_launch/launch/velodyne_node_container.launch.py
+++ b/aip_x1_launch/launch/velodyne_node_container.launch.py
@@ -121,6 +121,13 @@ def create_parameter_dict(*args):
         )
     )
 
+    # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
+    if LaunchConfiguration("output_as_sensor_frame").perform(context):
+        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
+    else:
+        ring_outlier_filter_parameters = {
+            "output_frame": ""
+        }  # keep the output frame as the input frame
     nodes.append(
         ComposableNode(
             package="pointcloud_preprocessor",
@@ -128,8 +135,9 @@ def create_parameter_dict(*args):
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
-                ("output", "pointcloud"),
+                ("output", "pointcloud_before_sync"),
             ],
+            parameters=[ring_outlier_filter_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -218,6 +226,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     )
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS2 component container communication")
+    add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index cfb39cc4..defdf75d 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -202,14 +202,22 @@ def create_parameter_dict(*args):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
+    if LaunchConfiguration("output_as_sensor_frame").perform(context):
+        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
+    else:
+        ring_outlier_filter_parameters = {
+            "output_frame": ""
+        }  # keep the output frame as the input frame
     ring_outlier_filter_component = ComposableNode(
         package="pointcloud_preprocessor",
         plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
         name="ring_outlier_filter",
         remappings=[
             ("input", "rectified/pointcloud_ex"),
-            ("output", "pointcloud"),
+            ("output", "pointcloud_before_sync"),
         ],
+        parameters=[ring_outlier_filter_parameters],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -219,7 +227,7 @@ def create_parameter_dict(*args):
         name="dual_return_filter",
         remappings=[
             ("input", "rectified/pointcloud_ex"),
-            ("output", "pointcloud"),
+            ("output", "pointcloud_before_sync"),
         ],
         parameters=[
             {
@@ -336,6 +344,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("min_azimuth_deg", "135.0")
     add_launch_arg("max_azimuth_deg", "225.0")
     add_launch_arg("enable_blockage_diag", "true")
+    add_launch_arg("output_as_sensor_frame", "True")
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index 6d435dee..3c0a09d8 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -37,19 +37,20 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/front_upper/pointcloud",
-                    "/sensing/lidar/front_lower/pointcloud",
-                    "/sensing/lidar/left_upper/pointcloud",
-                    "/sensing/lidar/left_lower/pointcloud",
-                    "/sensing/lidar/right_upper/pointcloud",
-                    "/sensing/lidar/right_lower/pointcloud",
-                    "/sensing/lidar/rear_upper/pointcloud",
-                    "/sensing/lidar/rear_lower/pointcloud",
+                    "/sensing/lidar/front_upper/pointcloud_before_sync",
+                    "/sensing/lidar/front_lower/pointcloud_before_sync",
+                    "/sensing/lidar/left_upper/pointcloud_before_sync",
+                    "/sensing/lidar/left_lower/pointcloud_before_sync",
+                    "/sensing/lidar/right_upper/pointcloud_before_sync",
+                    "/sensing/lidar/right_lower/pointcloud_before_sync",
+                    "/sensing/lidar/rear_upper/pointcloud_before_sync",
+                    "/sensing/lidar/rear_lower/pointcloud_before_sync",
                 ],
                 "input_offset": [0.025, 0.025, 0.01, 0.0, 0.05, 0.05, 0.05, 0.05],
                 "timeout_sec": 0.075,
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_twist_topic_type": "twist",
+                "publish_synchronized_pointcloud": True,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index 10542a54..726171f9 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -37,10 +37,10 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/left/pointcloud",
-                    "/sensing/lidar/right/pointcloud",
-                    "/sensing/lidar/rear/pointcloud",
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    "/sensing/lidar/left/pointcloud_before_sync",
+                    "/sensing/lidar/right/pointcloud_before_sync",
+                    "/sensing/lidar/rear/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_offset": [
@@ -51,6 +51,7 @@ def launch_setup(context, *args, **kwargs):
                 ],  # each sensor will wait 60, 70, 70, 70ms
                 "timeout_sec": 0.095,  # set shorter than 100ms
                 "input_twist_topic_type": "twist",
+                "publish_synchronized_pointcloud": True,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index c14c1390..891b6989 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -188,6 +188,13 @@ def create_parameter_dict(*args):
         )
     )
 
+    # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
+    if LaunchConfiguration("output_as_sensor_frame").perform(context):
+        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
+    else:
+        ring_outlier_filter_parameters = {
+            "output_frame": ""
+        }  # keep the output frame as the input frame
     nodes.append(
         ComposableNode(
             package="pointcloud_preprocessor",
@@ -195,8 +202,9 @@ def create_parameter_dict(*args):
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
-                ("output", "pointcloud"),
+                ("output", "pointcloud_before_sync"),
             ],
+            parameters=[ring_outlier_filter_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -283,6 +291,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
     add_launch_arg("container_name", "nebula_node_container")
+    add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",