diff --git a/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
index 040137f2b..9f23e9c21 100644
--- a/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
@@ -13,16 +13,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
-import yaml
-
 import launch
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
-from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
-from launch.substitutions import EnvironmentVariable
+import yaml
 
 
 def get_vehicle_info(context):
@@ -65,7 +61,7 @@ def launch_setup(context, *args, **kwargs):
                              '/sensing/lidar/front_right/mirror_cropped/pointcloud',
                              '/sensing/lidar/front_center/mirror_cropped/pointcloud'],
             'output_frame': LaunchConfiguration('base_frame'),
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }]
     )
 
@@ -82,7 +78,7 @@ def launch_setup(context, *args, **kwargs):
             'output_frame': LaunchConfiguration('base_frame'),
             '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'),
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }]
     )
 
@@ -105,7 +101,7 @@ def launch_setup(context, *args, **kwargs):
             'min_z': -0.5,
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }]
     )
 
@@ -118,18 +114,18 @@ def launch_setup(context, *args, **kwargs):
             ('output', 'rough/no_ground/pointcloud'),
         ],
         parameters=[{
-            "initial_max_slope": 10.0,
-            "general_max_slope": 10.0,
-            "local_max_slope": 10.0,
-            "min_height_threshold": 0.3,
-            "radial_devider_angle": 1.0,
-            "concentric_devider_distance": 0.0,
-            "use_vehicle_footprint": True,
-            "min_x": vehicle_info['min_longitudinal_offset'],
-            "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'),
+            'initial_max_slope': 10.0,
+            'general_max_slope': 10.0,
+            'local_max_slope': 10.0,
+            'min_height_threshold': 0.3,
+            'radial_devider_angle': 1.0,
+            'concentric_devider_distance': 0.0,
+            'use_vehicle_footprint': True,
+            'min_x': vehicle_info['min_longitudinal_offset'],
+            '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')
         }]
     )
 
@@ -151,7 +147,7 @@ def launch_setup(context, *args, **kwargs):
             'min_z': -0.5,
             'max_z': 0.5,
             'negative': False,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }]
     )
 
@@ -167,7 +163,7 @@ def launch_setup(context, *args, **kwargs):
         parameters=[{
             'voxel_size_x': 0.25,
             'voxel_size_y': 0.25,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }]
     )
 
@@ -190,7 +186,7 @@ def launch_setup(context, *args, **kwargs):
             'voxel_size_y': 0.2,
             'voxel_size_z': 0.2,
             'debug': False,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }]
     )
 
@@ -203,7 +199,7 @@ def launch_setup(context, *args, **kwargs):
             'input_topics': ['/sensing/lidar/rough/no_ground/pointcloud',
                              '/sensing/lidar/short_height/no_ground/pointcloud'],
             'output_frame': LaunchConfiguration('base_frame'),
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }]
     )
 
@@ -216,12 +212,12 @@ def launch_setup(context, *args, **kwargs):
             ('output', 'voxel_grid_filtered/pointcloud'),
         ],
         parameters=[{
-            "input_frame": LaunchConfiguration('base_frame'),
-            "output_frame": LaunchConfiguration('base_frame'),
-            "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'),
+            'input_frame': LaunchConfiguration('base_frame'),
+            'output_frame': LaunchConfiguration('base_frame'),
+            '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')
         }]
     )
 
@@ -234,9 +230,9 @@ def launch_setup(context, *args, **kwargs):
             ('output', 'no_ground/pointcloud'),
         ],
         parameters=[{
-            "search_radius": 0.2,
-            "min_neighbors": 5,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+            'search_radius': 0.2,
+            'min_neighbors': 5,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }]
     )
 
@@ -249,11 +245,11 @@ def launch_setup(context, *args, **kwargs):
             ('output', 'no_ground/pointcloud'),
         ],
         parameters=[{
-            "voxel_size_x": 0.4,
-            "voxel_size_y": 0.4,
-            "voxel_size_z": 100.0,
-            "voxel_points_threshold": 5,
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+            'voxel_size_x': 0.4,
+            'voxel_size_y': 0.4,
+            'voxel_size_z': 100.0,
+            'voxel_points_threshold': 5,
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }]
     )
 
@@ -262,13 +258,13 @@ def launch_setup(context, *args, **kwargs):
         plugin='topic_tools::RelayNode',
         name='relay',
         parameters=[{
-            "input_topic": "/sensing/lidar/top/outlier_filtered/pointcloud",
-            "output_topic": "/sensing/lidar/pointcloud",
-            "type": "sensor_msgs/msg/PointCloud2",
-            "history": "keep_last",
-            "depth": 5,
-            "reliability": "best_effort",
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+            'input_topic': '/sensing/lidar/top/outlier_filtered/pointcloud',
+            'output_topic': '/sensing/lidar/pointcloud',
+            'type': 'sensor_msgs/msg/PointCloud2',
+            'history': 'keep_last',
+            'depth': 5,
+            'reliability': 'best_effort',
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
     )
 
@@ -290,7 +286,7 @@ def launch_setup(context, *args, **kwargs):
         ],
         output='screen',
         parameters=[{
-            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
+            'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
         }],
     )
 
@@ -332,8 +328,8 @@ def add_launch_arg(name: str, default_value=None):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
 
     add_launch_arg('base_frame', 'base_link')
-    add_launch_arg('use_concat_filter', 'use_concat_filter')
-    add_launch_arg('use_radius_search', 'use_radius_search')
+    add_launch_arg('use_concat_filter', 'true')
+    add_launch_arg('use_radius_search', 'true')
     add_launch_arg('vehicle_param_file')
 
     return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])