diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index e53dfb70..ea35c49d 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -39,9 +39,10 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/left/pointcloud",
-                    "/sensing/lidar/right/pointcloud",
-                    "/sensing/lidar/rear/pointcloud",
+                    "/sensing/lidar/side_left/pointcloud",
+                    "/sensing/lidar/side_right/pointcloud",
+                    "/sensing/lidar/front_left/pointcloud",
+                    "/sensing/lidar/front_right/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_offset": [
@@ -49,6 +50,7 @@ def launch_setup(context, *args, **kwargs):
                     0.025,
                     0.025,
                     0.025,
+                    0.025,
                 ],  # each sensor will wait 60, 70, 70, 70ms
                 "timeout_sec": 0.095,  # set shorter than 100ms
                 "input_twist_topic_type": "twist",