diff --git a/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py
index 1a42cb2db..930f83765 100644
--- a/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py
@@ -21,6 +21,7 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+from launch.substitutions import EnvironmentVariable
 
 
 def get_vehicle_info(context):
@@ -63,6 +64,7 @@ def launch_setup(context, *args, **kwargs):
                                 '/sensing/lidar/left/outlier_filtered/pointcloud',
                                 '/sensing/lidar/right/outlier_filtered/pointcloud'],
                 'output_frame': 'base_link',
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
     else:
@@ -78,6 +80,7 @@ def launch_setup(context, *args, **kwargs):
                 'output_frame': 'base_link',
                 'min_z': vehicle_info['min_height_offset'],
                 'max_z': vehicle_info['max_height_offset'],
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
 
@@ -101,6 +104,7 @@ def launch_setup(context, *args, **kwargs):
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -116,6 +120,7 @@ def launch_setup(context, *args, **kwargs):
             "general_max_slope": 10.0,
             "local_max_slope": 10.0,
             "min_height_threshold": 0.2,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -127,6 +132,7 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/rectified/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )
 
@@ -143,6 +149,9 @@ def launch_setup(context, *args, **kwargs):
             relay_component,
         ],
         output='screen',
+        parameters=[{
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+        }],
     )
 
     return [container]
diff --git a/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py
index 2247972d1..e68a57ecb 100644
--- a/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py
@@ -21,6 +21,7 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+from launch.substitutions import EnvironmentVariable
 
 def get_vehicle_info(context):
     path = LaunchConfiguration('vehicle_param_file').perform(context)
@@ -62,6 +63,7 @@ def launch_setup(context, *args, **kwargs):
                                 '/sensing/lidar/left/outlier_filtered/pointcloud',
                                 '/sensing/lidar/right/outlier_filtered/pointcloud'],
                 'output_frame': 'base_link',
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
     else:
@@ -78,6 +80,7 @@ def launch_setup(context, *args, **kwargs):
                 'output_frame': 'base_link',
                 'min_z': vehicle_info['min_height_offset'],
                 'max_z': vehicle_info['max_height_offset'],
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
 
@@ -100,6 +103,7 @@ def launch_setup(context, *args, **kwargs):
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -115,6 +119,7 @@ def launch_setup(context, *args, **kwargs):
             "general_max_slope": 10.0,
             "local_max_slope": 10.0,
             "min_height_threshold": 0.2,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -126,6 +131,7 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/rectified/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )
 
@@ -142,6 +148,9 @@ def launch_setup(context, *args, **kwargs):
             relay_component,
         ],
         output='screen',
+        parameters=[{
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+        }],
     )
 
     return [container]
diff --git a/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
index 1408f7184..079dc8d7e 100644
--- a/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
@@ -21,6 +21,7 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+from launch.substitutions import EnvironmentVariable
 
 def get_vehicle_info(context):
     path = LaunchConfiguration('vehicle_param_file').perform(context)
@@ -63,6 +64,7 @@ def launch_setup(context, *args, **kwargs):
                                 '/sensing/lidar/front_right/mirror_cropped/pointcloud',
                                 '/sensing/lidar/front_center/mirror_cropped/pointcloud'],
                 'output_frame': 'base_link',
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
     else:
@@ -79,6 +81,7 @@ def launch_setup(context, *args, **kwargs):
                 'output_frame': 'base_link',
                 'min_z': vehicle_info['min_height_offset'],
                 'max_z': vehicle_info['max_height_offset'],
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
 
@@ -101,6 +104,7 @@ def launch_setup(context, *args, **kwargs):
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -122,6 +126,7 @@ def launch_setup(context, *args, **kwargs):
             "max_x": vehicle_info['max_longitudinal_offset'],
             "min_y": vehicle_info['min_lateral_offset'],
             "max_y": vehicle_info['max_lateral_offset'],
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -139,6 +144,7 @@ def launch_setup(context, *args, **kwargs):
             "voxel_size_x": 0.04,
             "voxel_size_y": 0.04,
             "voxel_size_z": 0.08,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -154,6 +160,7 @@ def launch_setup(context, *args, **kwargs):
             parameters=[{
                 "search_radius": 0.2,
                 "min_neighbors": 5
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
     else:
@@ -170,6 +177,7 @@ def launch_setup(context, *args, **kwargs):
                 "voxel_size_y": 0.4,
                 "voxel_size_z": 100,
                 "voxel_points_threshold": 5,
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
 
@@ -181,6 +189,7 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/rectified/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )
 
@@ -197,6 +206,9 @@ def launch_setup(context, *args, **kwargs):
             relay_component,
         ],
         output='screen',
+        parameters=[{
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+        }],
     )
 
     return [container]
diff --git a/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py
index 2247972d1..e68a57ecb 100644
--- a/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py
@@ -21,6 +21,7 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+from launch.substitutions import EnvironmentVariable
 
 def get_vehicle_info(context):
     path = LaunchConfiguration('vehicle_param_file').perform(context)
@@ -62,6 +63,7 @@ def launch_setup(context, *args, **kwargs):
                                 '/sensing/lidar/left/outlier_filtered/pointcloud',
                                 '/sensing/lidar/right/outlier_filtered/pointcloud'],
                 'output_frame': 'base_link',
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
     else:
@@ -78,6 +80,7 @@ def launch_setup(context, *args, **kwargs):
                 'output_frame': 'base_link',
                 'min_z': vehicle_info['min_height_offset'],
                 'max_z': vehicle_info['max_height_offset'],
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
 
@@ -100,6 +103,7 @@ def launch_setup(context, *args, **kwargs):
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -115,6 +119,7 @@ def launch_setup(context, *args, **kwargs):
             "general_max_slope": 10.0,
             "local_max_slope": 10.0,
             "min_height_threshold": 0.2,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -126,6 +131,7 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/rectified/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )
 
@@ -142,6 +148,9 @@ def launch_setup(context, *args, **kwargs):
             relay_component,
         ],
         output='screen',
+        parameters=[{
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+        }],
     )
 
     return [container]
diff --git a/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py
index 4139e0507..43d68f352 100644
--- a/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py
@@ -21,6 +21,7 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+from launch.substitutions import EnvironmentVariable
 
 def get_vehicle_info(context):
     path = LaunchConfiguration('vehicle_param_file').perform(context)
@@ -61,6 +62,7 @@ def launch_setup(context, *args, **kwargs):
                                 '/sensing/lidar/left/outlier_filtered/pointcloud',
                                 '/sensing/lidar/right/outlier_filtered/pointcloud'],
                 'output_frame': 'base_link',
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
     else:
@@ -76,6 +78,7 @@ def launch_setup(context, *args, **kwargs):
                 'output_frame': 'base_link',
                 'min_z': vehicle_info['min_height_offset'],
                 'max_z': vehicle_info['max_height_offset'],
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
 
@@ -98,6 +101,7 @@ def launch_setup(context, *args, **kwargs):
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -113,6 +117,7 @@ def launch_setup(context, *args, **kwargs):
             "general_max_slope": 10.0,
             "local_max_slope": 10.0,
             "min_height_threshold": 0.2,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -124,6 +129,7 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/rectified/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )
 
@@ -140,6 +146,9 @@ def launch_setup(context, *args, **kwargs):
             relay_component,
         ],
         output='screen',
+        parameters=[{
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+        }],
     )
 
     return [container]
diff --git a/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py
index 06d6b670b..05b05df15 100644
--- a/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py
@@ -21,6 +21,7 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+from launch.substitutions import EnvironmentVariable
 
 
 def get_vehicle_info(context):
@@ -62,6 +63,7 @@ def launch_setup(context, *args, **kwargs):
                                 '/sensing/lidar/left/outlier_filtered/pointcloud',
                                 '/sensing/lidar/right/outlier_filtered/pointcloud'],
                 'output_frame': 'base_link',
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
     else:
@@ -78,6 +80,7 @@ def launch_setup(context, *args, **kwargs):
                 'output_frame': 'base_link',
                 'min_z': vehicle_info['min_height_offset'],
                 'max_z': vehicle_info['max_height_offset'],
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
             }]
         )
 
@@ -100,6 +103,7 @@ def launch_setup(context, *args, **kwargs):
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -115,6 +119,7 @@ def launch_setup(context, *args, **kwargs):
             "general_max_slope": 10.0,
             "local_max_slope": 10.0,
             "min_height_threshold": 0.2,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -126,6 +131,7 @@ def launch_setup(context, *args, **kwargs):
             "input_topic": "/sensing/lidar/top/rectified/pointcloud",
             "output_topic": "/sensing/lidar/pointcloud",
             "type": "sensor_msgs/msg/PointCloud2",
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }],
     )
 
@@ -142,6 +148,9 @@ def launch_setup(context, *args, **kwargs):
             relay_component,
         ],
         output='screen',
+        parameters=[{
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+        }],
     )
 
     return [container]
diff --git a/sensing_launch/launch/livox_horizon_pointcloud_preprocessor.launch.py b/sensing_launch/launch/livox_horizon_pointcloud_preprocessor.launch.py
index 0de1e8f7c..20e512952 100644
--- a/sensing_launch/launch/livox_horizon_pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/livox_horizon_pointcloud_preprocessor.launch.py
@@ -21,6 +21,7 @@
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
 from launch.launch_context import LaunchContext
+from launch.substitutions import EnvironmentVariable
 
 
 def get_vehicle_info(context):
@@ -70,6 +71,7 @@ def launch_setup(context, *args, **kwargs):
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'negative': True,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -92,6 +94,7 @@ def launch_setup(context, *args, **kwargs):
             'min_z': vehicle_mirror_info['min_height_offset'],
             'max_z': vehicle_mirror_info['max_height_offset'],
             'negative': True,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
         }]
     )
 
@@ -106,6 +109,9 @@ def launch_setup(context, *args, **kwargs):
             cropbox_mirror_component,
         ],
         output='screen',
+        parameters=[{
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+        }],
     )
 
     return [container]
diff --git a/sensing_launch/launch/velodyne_node_container.launch.py b/sensing_launch/launch/velodyne_node_container.launch.py
index 189ae333d..2bf67af44 100644
--- a/sensing_launch/launch/velodyne_node_container.launch.py
+++ b/sensing_launch/launch/velodyne_node_container.launch.py
@@ -18,6 +18,7 @@
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch.substitutions import EnvironmentVariable
 import uuid
 
 
@@ -72,8 +73,10 @@ def create_parameter_dict(*args):
         package='velodyne_pointcloud',
         plugin='velodyne_pointcloud::Convert',
         name='velodyne_convert_node',
-        parameters=[create_parameter_dict('calibration', 'min_range', 'max_range',
-                                          'num_points_thresholds', 'invalid_intensity', 'sensor_frame')],
+        parameters=[{**create_parameter_dict('calibration', 'min_range', 'max_range',
+                                          'num_points_thresholds', 'invalid_intensity', 'sensor_frame'),
+                     'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+        }],
         remappings=[('velodyne_points', 'pointcloud_raw'),
                     ('velodyne_points_ex', 'pointcloud_raw_ex')],
     )
@@ -81,6 +84,7 @@ def create_parameter_dict(*args):
 
     cropbox_parameters = create_parameter_dict('input_frame', 'output_frame')
     cropbox_parameters['negative'] = True
+    cropbox_parameters['use_sim_time'] = EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
 
     cropbox_remappings = [
         ('/min_x', '/vehicle_info/min_longitudinal_offset'),
@@ -124,6 +128,9 @@ def create_parameter_dict(*args):
                 ('velodyne_points_interpolate', 'rectified/pointcloud'),
                 ('velodyne_points_interpolate_ex', 'rectified/pointcloud_ex'),
             ],
+            parameters=[{
+                'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+            }],
         )
         )
 
@@ -135,6 +142,9 @@ def create_parameter_dict(*args):
             ('/input', 'rectified/pointcloud_ex'),
             ('/output', 'outlier_filtered/pointcloud')
         ],
+        parameters=[{
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+        }],
     )
     )
 
@@ -146,6 +156,9 @@ def create_parameter_dict(*args):
         package='rclcpp_components',
         executable='component_container',
         composable_node_descriptions=nodes,
+        parameters=[{
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+        }],
     )
 
     driver_component = ComposableNode(
@@ -153,9 +166,11 @@ def create_parameter_dict(*args):
         plugin='velodyne_driver::VelodyneDriver',
         # node is created in a global context, need to avoid name clash
         name='velodyne_driver',
-        parameters=[create_parameter_dict('device_ip', 'gps_time', 'read_once', 'read_fast',
+        parameters=[{**create_parameter_dict('device_ip', 'gps_time', 'read_once', 'read_fast',
                                           'repeat_delay', 'frame_id', 'model', 'rpm', 'port',
-                                          'pcap')],
+                                          'pcap'),
+                     'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+        }],
     )
 
     # one way to add a ComposableNode conditional on a launch argument to a