diff --git a/aip_x1_launch/launch/lidar.launch.xml b/aip_x1_launch/launch/lidar.launch.xml
index 8ced85b6..283b3af0 100644
--- a/aip_x1_launch/launch/lidar.launch.xml
+++ b/aip_x1_launch/launch/lidar.launch.xml
@@ -4,7 +4,7 @@
   <arg name="use_concat_filter" default="true" />
   <arg name="use_radius_search" default="false" />
   <arg name="vehicle_mirror_param_file" />
-  <arg name="include_concat_node_in_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <!-- x1 additional setting -->
@@ -57,7 +57,7 @@
       <arg name="base_frame" value="base_link" />
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="false" />
-      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)" />
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
index 2cb69ae7..8d9892b0 100644
--- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -57,17 +57,13 @@ def launch_setup(context, *args, **kwargs):
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[],
-        condition=UnlessCondition(
-            LaunchConfiguration("include_concat_node_in_pointcloud_container")
-        ),
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 
     target_container = (
         container
-        if UnlessCondition(
-            LaunchConfiguration("include_concat_node_in_pointcloud_container")
-        ).evaluate(context)
+        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
         else LaunchConfiguration("pointcloud_container_name")
     )
 
@@ -89,7 +85,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
-    add_launch_arg("include_concat_node_in_pointcloud_container", "False")
+    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
     add_launch_arg("individual_container_name", "concatenate_container")
 
diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml
index 345eba9e..df8b83b4 100644
--- a/aip_x1_launch/launch/sensing.launch.xml
+++ b/aip_x1_launch/launch/sensing.launch.xml
@@ -2,7 +2,7 @@
 
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
-  <arg name="include_concat_node_in_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
@@ -12,7 +12,7 @@
     <include file="$(find-pkg-share aip_x1_launch)/launch/lidar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)" />
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index bb874172..5c93fc41 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -4,7 +4,7 @@
   <arg name="use_concat_filter" default="true" />
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
   <arg name="vehicle_mirror_param_file" />
-  <arg name="include_concat_node_in_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
 
@@ -189,7 +189,7 @@
       <arg name="base_frame" value="base_link" />
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="true" />
-      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index 46045756..6aa031b0 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -63,17 +63,13 @@ def launch_setup(context, *args, **kwargs):
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[],
-        condition=UnlessCondition(
-            LaunchConfiguration("include_concat_node_in_pointcloud_container")
-        ),
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 
     target_container = (
         container
-        if UnlessCondition(
-            LaunchConfiguration("include_concat_node_in_pointcloud_container")
-        ).evaluate(context)
+        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
         else LaunchConfiguration("pointcloud_container_name")
     )
 
@@ -96,7 +92,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "True")
     add_launch_arg("use_intra_process", "True")
-    add_launch_arg("include_concat_node_in_pointcloud_container", "False")
+    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
     add_launch_arg("individual_container_name", "concatenate_container")
 
diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml
index e5bd6c41..d64ebe50 100644
--- a/aip_x2_launch/launch/sensing.launch.xml
+++ b/aip_x2_launch/launch/sensing.launch.xml
@@ -2,7 +2,7 @@
 
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
-  <arg name="include_concat_node_in_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
@@ -12,7 +12,7 @@
     <include file="$(find-pkg-share aip_x2_launch)/launch/lidar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)" />
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 41717e34..1b5c075b 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -5,7 +5,7 @@
   <arg name="use_concat_filter" default="true"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="include_concat_node_in_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="include concat node in pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <group>
@@ -101,7 +101,7 @@
       <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index fe27fdf7..d039caa3 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -64,7 +64,7 @@ def launch_setup(context, *args, **kwargs):
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         condition=UnlessCondition(
-            LaunchConfiguration("include_concat_node_in_pointcloud_container")
+            LaunchConfiguration("use_pointcloud_container")
         ),
         output="screen",
     )
@@ -72,7 +72,7 @@ def launch_setup(context, *args, **kwargs):
     target_container = (
         container
         if UnlessCondition(
-            LaunchConfiguration("include_concat_node_in_pointcloud_container")
+            LaunchConfiguration("use_pointcloud_container")
         ).evaluate(context)
         else LaunchConfiguration("pointcloud_container_name")
     )
@@ -96,7 +96,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
-    add_launch_arg("include_concat_node_in_pointcloud_container", "False")
+    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
     add_launch_arg("individual_container_name", "concatenate_container")
 
diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index 279a8bc6..ba6b935c 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -3,7 +3,7 @@
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_fusion, lidar, camera"/>
-  <arg name="include_concat_node_in_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
@@ -13,7 +13,7 @@
     <include file="$(find-pkg-share aip_xx1_launch)/launch/lidar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-      <arg name="include_concat_node_in_pointcloud_container" value="$(var include_concat_node_in_pointcloud_container)" />
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>