diff --git a/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
index 1bd1d0a0..bd1dc498 100644
--- a/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
+++ b/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -6,18 +6,19 @@
     rosbag_length: 20.0
     maximum_queue_size: 5
     timeout_sec: 0.2
-    is_motion_compensated: true
+    is_motion_compensated: false # no need to compensate for motion as lidar scan at the same time.
     publish_synchronized_pointcloud: true
     keep_input_frame_in_synchronized_pointcloud: true
     publish_previous_but_late_pointcloud: false
     synchronized_pointcloud_postfix: pointcloud
     input_twist_topic_type: twist
     input_topics: [
-                    "/sensing/lidar/top/pointcloud", # unknown timestamp
-                    "/sensing/lidar/left/pointcloud", # unknown timestamp
-                    "/sensing/lidar/right/pointcloud", # unknown timestamp
-                    "/sensing/lidar/rear/pointcloud", # unknown timestamp
+                    "/sensing/lidar/top/pointcloud_before_sync", # 0.99
+                    "/sensing/lidar/front_left/pointcloud_before_sync",  # 0.99
+                    "/sensing/lidar/front_right/pointcloud_before_sync", # 0.99
+                    "/sensing/lidar/side_left/pointcloud_before_sync",   # 0.99
+                    "/sensing/lidar/side_right/pointcloud_before_sync",  # 0.99
                 ]
     output_frame: base_link
-    lidar_timestamp_offsets: [0.0, 0.02, 0.02, 0.02] # unknown offset
-    lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01]
+    lidar_timestamp_offsets: [0.0, 0.0, 0.0, 0.0, 0.0]
+    lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01]