diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index ed7b3bf5..4aa9736c 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -39,18 +39,18 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/pointcloud_before_sync",
-                    # "/sensing/lidar/side_left/pointcloud_before_sync",
-                    # "/sensing/lidar/side_right/pointcloud_before_sync",
-                    # "/sensing/lidar/front_left/pointcloud_before_sync",
-                    # "/sensing/lidar/front_right/pointcloud_before_sync",
+                    "/sensing/lidar/side_left/pointcloud_before_sync",
+                    "/sensing/lidar/side_right/pointcloud_before_sync",
+                    "/sensing/lidar/front_left/pointcloud_before_sync",
+                    "/sensing/lidar/front_right/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_offset": [
                     0.035,
-                    # 0.025,
-                    # 0.025,
-                    # 0.025,
-                    # 0.025,
+                    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",