diff --git a/aip_x2_gen2_launch/config/dual_return_filter.param.yaml b/aip_x2_gen2_launch/config/dual_return_filter.param.yaml
index 75168e7b..a87fef47 100644
--- a/aip_x2_gen2_launch/config/dual_return_filter.param.yaml
+++ b/aip_x2_gen2_launch/config/dual_return_filter.param.yaml
@@ -1,13 +1,16 @@
 /**:
   ros__parameters:
-    roi_mode: "Fixed_azimuth_ROI" # description="options: `No_ROI`, `Fixed_xyz_ROI` or `Fixed_azimuth_ROI`"/>
-    weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
-    visibility_error_threshold: 0.95
-    visibility_warn_threshold: 0.97
-    max_distance: 10.0
     x_max: 18.0
     x_min: -12.0
     y_max: 2.0
     y_min: -2.0
     z_max: 10.0
     z_min: 0.0
+    max_distance: 10.0
+    max_azimuth_diff: 50.0
+    weak_first_distance_ratio: 1.004
+    general_distance_ratio: 1.03
+    weak_first_local_noise_threshold: 2
+    roi_mode: "Fixed_azimuth_ROI"
+    visibility_error_threshold: 0.92
+    visibility_warn_threshold: 0.95
diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
deleted file mode 100644
index 8bbaddca..00000000
--- a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
+++ /dev/null
@@ -1,74 +0,0 @@
-<launch>
-
-  <!-- Params -->
-  <arg name="launch_driver" default="true"/>
-
-  <arg name="model" default="Pandar128E4X"/>
-  <arg name="sensor_frame" default="pandar"/>
-  <arg name="return_mode" default="Strongest"/>
-  <arg name="sensor_ip" default="192.168.1.201"/>
-  <arg name="host_ip" default="255.255.255.255"/>
-  <arg name="data_port" default="2368"/>
-  <arg name="sync_angle" default="0"/>
-  <arg name="cut_angle" default="0"/>
-  <arg name="cloud_min_angle" default="90"/>
-  <arg name="cloud_max_angle" default="270"/>
-  <arg name="dual_return_distance_threshold" default="0.1"/>
-  <arg name="ptp_switch_type" default="TSN"/>
-  <arg name="ptp_domain" default="0"/>
-  <arg name="vehicle_mirror_param_file"/>
-  <arg name="container_name" default="hesai_node_container"/>
-  <arg name="setup_sensor" default="true"/>
-  <arg name="min_range" default="0.3"/>
-  <arg name="max_range" default="230.0"/>
-  <arg name="blockage_range" default="[90.0, 270.0]"/>
-  <arg name="vertical_bins" default ="128" />
-  <arg name="horizontal_ring_id" default="12" />
-  <arg name="is_channel_order_top2down" default="true"/>
-  <arg name="horizontal_resolution" default="0.4"/>
-  <arg name="enable_blockage_diag" default="$(var enable_blockage_diag)"/>
-  <arg name="calibration_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
-  <arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
-  <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
-  <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
-  <arg name="point_filters_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/default/point_filters_full.param.yaml" />
-
-  <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
-    <arg name="launch_hw" value="$(var launch_driver)"/>
-    <arg name="sensor_model" value="$(var model)"/>
-    <arg name="return_mode" value="$(var return_mode)"/>
-    <arg name="frame_id" value="$(var sensor_frame)"/>
-    <arg name="sensor_ip" value="$(var sensor_ip)"/>
-    <arg name="host_ip" value="$(var host_ip)"/>
-    <arg name="data_port" value="$(var data_port)"/>
-    <arg name="sync_angle" value="$(var sync_angle)"/>
-    <arg name="cut_angle" value="$(var cut_angle)"/>
-    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-    <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-    <arg name="ptp_profile" value="automotive"/>
-    <arg name="ptp_transport_type" value="L2"/>
-    <arg name="ptp_switch_type" value="$(var ptp_switch_type)"/>
-    <arg name="ptp_domain" value="$(var ptp_domain)"/>
-    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-
-    <arg name="use_intra_process" value="true"/>
-    <arg name="use_multithread" value="true"/>
-    <arg name="container_name" value="$(var container_name)"/>
-    <arg name="setup_sensor" value="$(var setup_sensor)"/>
-
-    <arg name="min_range" value="$(var min_range)"/>
-    <arg name="max_range" value="$(var max_range)"/>
-    <arg name="blockage_range" value="$(var blockage_range)"/>
-    <arg name="vertical_bins" value ="$(var vertical_bins)"/>
-    <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)" />
-    <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
-    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
-    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-    <arg name="calibration_file" value="$(var calibration_file)"/>
-    <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
-    <arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
-    <arg name="point_filters_param_file" value="$(var point_filters_param_file)"/>
-
-  </include>
-</launch>
diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
deleted file mode 100644
index 67b9f0b8..00000000
--- a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
+++ /dev/null
@@ -1,72 +0,0 @@
-<launch>
-
-  <!-- Params -->
-  <arg name="launch_driver" default="true"/>
-
-  <arg name="model" default="PandarQT128"/>
-  <arg name="sensor_frame" default="pandar"/>
-  <arg name="return_mode" default="Strongest"/>
-  <arg name="sensor_ip" default="192.168.1.201"/>
-  <arg name="host_ip" default="255.255.255.255"/>
-  <arg name="data_port" default="2368"/>
-  <arg name="sync_angle" default="0"/>
-  <arg name="cut_angle" default="0"/>
-  <arg name="cloud_min_angle" default="0"/>
-  <arg name="cloud_max_angle" default="360"/>
-  <arg name="dual_return_distance_threshold" default="0.1"/>
-  <arg name="ptp_profile" default="1588v2"/>
-  <arg name="ptp_transport_type" default="UDP"/>
-  <arg name="ptp_switch_type" default="TSN"/>
-  <arg name="ptp_domain" default="0"/>
-  <arg name="vehicle_mirror_param_file"/>
-  <arg name="container_name" default="hesai_node_container"/>
-  <arg name="min_range" default="0.05"/>
-  <arg name="max_range" default="50.0"/>
-  <arg name="blockage_range" default="[90.0, 270.0]"/>
-  <arg name="vertical_bins" default ="128" />
-  <arg name="horizontal_ring_id" default="12" />
-  <arg name="is_channel_order_top2down" default="true"/>
-  <arg name="horizontal_resolution" default="0.4"/>
-  <arg name="enable_blockage_diag" default="$(var enable_blockage_diag)"/>
-  <arg name="calibration_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
-  <arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
-  <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
-  <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
-  <arg name="point_filters_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/default/point_filters_full.param.yaml" />
-
-  <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
-    <arg name="launch_hw" value="$(var launch_driver)"/>
-    <arg name="sensor_model" value="$(var model)"/>
-    <arg name="return_mode" value="$(var return_mode)"/>
-    <arg name="frame_id" value="$(var sensor_frame)"/>
-    <arg name="sensor_ip" value="$(var sensor_ip)"/>
-    <arg name="host_ip" value="$(var host_ip)"/>
-    <arg name="data_port" value="$(var data_port)"/>
-    <arg name="sync_angle" value="$(var sync_angle)"/>
-    <arg name="cut_angle" value="$(var cut_angle)"/>
-    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-    <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-    <arg name="ptp_profile" value="$(var ptp_profile)"/>
-    <arg name="ptp_transport_type" value="$(var ptp_transport_type)"/>
-    <arg name="ptp_switch_type" value="$(var ptp_switch_type)"/>
-    <arg name="ptp_domain" value="$(var ptp_domain)"/>
-    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-
-    <arg name="use_intra_process" value="true"/>
-    <arg name="use_multithread" value="true"/>
-    <arg name="container_name" value="$(var container_name)"/>
-    <arg name="min_range" value="$(var min_range)"/>
-    <arg name="max_range" value="$(var max_range)"/>
-    <arg name="blockage_range" value="$(var blockage_range)"/>
-    <arg name="vertical_bins" value ="$(var vertical_bins)"/>
-    <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)" />
-    <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
-    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
-    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-    <arg name="calibration_file" value="$(var calibration_file)"/>
-    <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
-    <arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
-    <arg name="point_filters_param_file" value="$(var point_filters_param_file)"/>
-  </include>
-</launch>
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index bddb9a2a..6ab41beb 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -27,9 +27,10 @@
     <!-- LiDARs connected to Main ECU -->
     <group>
       <push-ros-namespace namespace="rear_upper" />
-      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
+        <arg name="sensor_model" value="Pandar128E4X"/>
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="rear_upper/lidar"/>
+        <arg name="frame_id" value="rear_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.202"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2321"/>
@@ -37,15 +38,18 @@
         <arg name="cut_angle" value="180.0" />
         <arg name="cloud_min_angle" value="88"/>
         <arg name="cloud_max_angle" value="274"/>
-        <arg name="return_mode" value="LastStrongest"/>
+        <arg name="return_mode" value="Dual"/>
+        <arg name="min_range" value="0.05"/>
+        <arg name="max_range" value="50.0"/>
         <arg name="ptp_profile" value="automotive"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="ptp_lock_threshold" value="100"/>
+        <arg name="udp_only" value="false"/>
+        <arg name="launch_hw" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
-
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
         <arg name="horizontal_ring_id" value="40" />
@@ -55,14 +59,20 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/rear_upper.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_upper/point_filters_one_third.param.yaml" />
+        <arg name="dual_return_distance_threshold" value="0.1"/>
+        <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
+        <arg name="min_azimuth_deg" value="135.0"/>
+        <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="use_dual_return_filter" value="false"/>
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="left_upper" />
-      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
+        <arg name="sensor_model" value="Pandar128E4X"/>
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="left_upper/lidar"/>
+        <arg name="frame_id" value="left_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.203"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2322"/>
@@ -70,12 +80,16 @@
         <arg name="cut_angle" value="359.0" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="359"/>
-        <arg name="return_mode" value="LastStrongest"/>
+        <arg name="return_mode" value="Dual"/>
+        <arg name="min_range" value="0.05"/>
+        <arg name="max_range" value="50.0"/>
         <arg name="ptp_profile" value="automotive"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="ptp_lock_threshold" value="100"/>
+        <arg name="udp_only" value="false"/>
+        <arg name="launch_hw" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -87,14 +101,20 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/left_upper.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_upper/point_filters_one_third.param.yaml" />
+        <arg name="dual_return_distance_threshold" value="0.1"/>
+        <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
+        <arg name="min_azimuth_deg" value="225.0"/>
+        <arg name="max_azimuth_deg" value="315.0"/>
+        <arg name="use_dual_return_filter" value="false"/>
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="rear_lower" />
-      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
+        <arg name="sensor_model" value="PandarQT128"/>
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="rear_lower/lidar"/>
+        <arg name="frame_id" value="rear_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.212"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2376"/>
@@ -102,12 +122,16 @@
         <arg name="cut_angle" value="180.0" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="LastStrongest"/>
+        <arg name="return_mode" value="Dual"/>
+        <arg name="min_range" value="0.3"/>
+        <arg name="max_range" value="230.0"/>
         <arg name="ptp_profile" value="automotive"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="ptp_lock_threshold" value="100"/>
+        <arg name="udp_only" value="false"/>
+        <arg name="launch_hw" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="blockage_range" value="[130.0, 230.0]"/>
@@ -119,14 +143,20 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/rear_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_lower/point_filters_full.param.yaml" />
+        <arg name="dual_return_distance_threshold" value="0.1"/>
+        <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
+        <arg name="min_azimuth_deg" value="135.0"/>
+        <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="use_dual_return_filter" value="false"/>
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="left_lower" />
-      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
+        <arg name="sensor_model" value="PandarQT128"/>
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="left_lower/lidar"/>
+        <arg name="frame_id" value="left_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.213"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2377"/>
@@ -134,12 +164,16 @@
         <arg name="cut_angle" value="270.0" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="LastStrongest"/>
+        <arg name="return_mode" value="Dual"/>
+        <arg name="min_range" value="0.3"/>
+        <arg name="max_range" value="230.0"/>
         <arg name="ptp_profile" value="automotive"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="ptp_lock_threshold" value="100"/>
+        <arg name="udp_only" value="false"/>
+        <arg name="launch_hw" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="blockage_range" value="[140.0, 230.0]"/>
@@ -151,15 +185,21 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/left_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_lower/point_filters_full.param.yaml" />
+        <arg name="dual_return_distance_threshold" value="0.1"/>
+        <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
+        <arg name="min_azimuth_deg" value="225.0"/>
+        <arg name="max_azimuth_deg" value="315.0"/>
+        <arg name="use_dual_return_filter" value="false"/>
       </include>
     </group>
 
     <!-- LiDARs connected to Sub ECU -->
     <group>
       <push-ros-namespace namespace="front_upper" />
-      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
+        <arg name="sensor_model" value="Pandar128E4X"/>
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="front_upper/lidar"/>
+        <arg name="frame_id" value="front_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.204"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2323"/>
@@ -167,12 +207,16 @@
         <arg name="cut_angle" value="275.0" />
         <arg name="cloud_min_angle" value="85"/>
         <arg name="cloud_max_angle" value="275"/>
-        <arg name="return_mode" value="LastStrongest"/>
+        <arg name="return_mode" value="Dual"/>
+        <arg name="min_range" value="0.05"/>
+        <arg name="max_range" value="50.0"/>
         <arg name="ptp_profile" value="automotive"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="ptp_lock_threshold" value="100"/>
+        <arg name="udp_only" value="false"/>
+        <arg name="launch_hw" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -184,14 +228,20 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_upper.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_upper/point_filters_one_third.param.yaml" />
+        <arg name="dual_return_distance_threshold" value="0.1"/>
+        <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
+        <arg name="min_azimuth_deg" value="135.0"/>
+        <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="use_dual_return_filter" value="false"/>
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="right_upper" />
-      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
+        <arg name="sensor_model" value="Pandar128E4X"/>
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="right_upper/lidar"/>
+        <arg name="frame_id" value="right_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.205"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2324"/>
@@ -199,12 +249,16 @@
         <arg name="cut_angle" value="270.0" />
         <arg name="cloud_min_angle" value="0"/>
         <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="LastStrongest"/>
+        <arg name="return_mode" value="Dual"/>
+        <arg name="min_range" value="0.05"/>
+        <arg name="max_range" value="50.0"/>
         <arg name="ptp_profile" value="automotive"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="ptp_lock_threshold" value="100"/>
+        <arg name="udp_only" value="false"/>
+        <arg name="launch_hw" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -216,14 +270,20 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_upper.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_upper/point_filters_one_third.param.yaml" />
+        <arg name="dual_return_distance_threshold" value="0.1"/>
+        <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
+        <arg name="min_azimuth_deg" value="45.0"/>
+        <arg name="max_azimuth_deg" value="135.0"/>
+        <arg name="use_dual_return_filter" value="false"/>
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="front_lower" />
-      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
+        <arg name="sensor_model" value="PandarQT128"/>
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="front_lower/lidar"/>
+        <arg name="frame_id" value="front_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.214"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2378"/>
@@ -231,12 +291,16 @@
         <arg name="cut_angle" value="270.0" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="LastStrongest"/>
+        <arg name="return_mode" value="Dual"/>
+        <arg name="min_range" value="0.3"/>
+        <arg name="max_range" value="230.0"/>
         <arg name="ptp_profile" value="automotive"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="ptp_lock_threshold" value="100"/>
+        <arg name="udp_only" value="false"/>
+        <arg name="launch_hw" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="blockage_range" value="[130.0, 230.0]"/>
@@ -248,14 +312,20 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_lower/point_filters_full.param.yaml" />
+        <arg name="dual_return_distance_threshold" value="0.1"/>
+        <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
+        <arg name="min_azimuth_deg" value="135.0"/>
+        <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="use_dual_return_filter" value="false"/>
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="right_lower" />
-      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
+        <arg name="sensor_model" value="PandarQT128"/>
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="right_lower/lidar"/>
+        <arg name="frame_id" value="right_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.215"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2379"/>
@@ -263,12 +333,16 @@
         <arg name="cut_angle" value="270.0" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="LastStrongest"/>
+        <arg name="return_mode" value="Dual"/>
+        <arg name="min_range" value="0.3"/>
+        <arg name="max_range" value="230.0"/>
         <arg name="ptp_profile" value="automotive"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="ptp_lock_threshold" value="100"/>
+        <arg name="udp_only" value="false"/>
+        <arg name="launch_hw" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="blockage_range" value="[145.0, 225.0]"/>
@@ -280,6 +354,11 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_lower/point_filters_full.param.yaml" />
+        <arg name="dual_return_distance_threshold" value="0.1"/>
+        <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
+        <arg name="min_azimuth_deg" value="45.0"/>
+        <arg name="max_azimuth_deg" value="135.0"/>
+        <arg name="use_dual_return_filter" value="false"/>
       </include>
     </group>
 
diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
index e8a4a55a..c288f0e5 100644
--- a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
+++ b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
@@ -19,8 +19,6 @@
 
 # from launch.conditions import LaunchConfigurationNotEquals
 from launch.conditions import IfCondition
-from launch.conditions import LaunchConfigurationEquals
-from launch.conditions import LaunchConfigurationNotEquals
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
@@ -110,9 +108,11 @@ def str2vector(string):
                     "ptp_transport_type",
                     "ptp_switch_type",
                     "ptp_domain",
+                    "ptp_lock_threshold",
                     "diag_span",
                     "calibration_file",
                     "launch_hw",
+                    "udp_only",
                 ),
                 "retry_hw": True,
             },
@@ -243,13 +243,13 @@ def str2vector(string):
     ring_outlier_filter_loader = LoadComposableNodes(
         composable_node_descriptions=[ring_outlier_filter_component],
         target_container=container,
-        condition=LaunchConfigurationNotEquals("return_mode", "Dual"),
+        condition=launch.conditions.UnlessCondition(LaunchConfiguration("use_dual_return_filter")),
     )
 
     dual_return_filter_loader = LoadComposableNodes(
         composable_node_descriptions=[dual_return_filter_component],
         target_container=container,
-        condition=LaunchConfigurationEquals("return_mode", "Dual"),
+        condition=launch.conditions.IfCondition(LaunchConfiguration("use_dual_return_filter")),
     )
 
     blockage_diag_loader = LoadComposableNodes(
@@ -288,6 +288,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("host_ip", "255.255.255.255", "host ip address")
     add_launch_arg("sync_angle", "0")
     add_launch_arg("cut_angle", "0.0")
+    add_launch_arg("ptp_lock_threshold", "100")
+    add_launch_arg("udp_only", "false")
     # add_launch_arg("point_filters", "{}", "point filter definitions in JSON format")
     add_launch_arg("base_frame", "base_link", "base frame id")
     add_launch_arg("min_range", "0.3", "minimum view range for Velodyne sensors")
@@ -331,6 +333,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
 
     add_launch_arg("calibration_file", "")
     add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
+    add_launch_arg("use_dual_return_filter", "false")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",