diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index fee67fe1..49031a6c 100644
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -15,6 +15,7 @@
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -36,6 +37,8 @@
     <arg name="ptp_transport_type" value="L2"/>
     <arg name="ptp_switch_type" value="NON_TSN"/>
     <arg name="ptp_domain" value="0"/>
+    <arg name="ptp_lock_threshold" value="100"/>
     <arg name="setup_sensor" value="true"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index afed4851..07b236b8 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -16,6 +16,7 @@
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -37,7 +38,9 @@
     <arg name="ptp_profile" value="automotive"/>
     <arg name="ptp_switch_type" value="NON_TSN"/>
     <arg name="ptp_transport_type" value="L2"/>
+    <arg name="ptp_lock_threshold" value="100"/>
     <arg name="setup_sensor" value="true"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
     <arg name="retry_hw" value="true"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 0c7d1ce3..691722a1 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -140,6 +140,7 @@ def create_parameter_dict(*args):
                         "rotation_speed",
                         "packet_mtu_size",
                         "setup_sensor",
+                        "udp_only",
                     ),
                 },
             ],
@@ -274,6 +275,7 @@ def create_parameter_dict(*args):
                     "ptp_transport_type",
                     "ptp_switch_type",
                     "ptp_domain",
+                    "ptp_lock_threshold",
                     "retry_hw",
                 ),
             }
@@ -334,6 +336,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("config_file", "", description="sensor configuration file")
     add_launch_arg("launch_driver", "True", "do launch driver")
     add_launch_arg("setup_sensor", "True", "configure sensor")
+    add_launch_arg("udp_only", "False", "use UDP only")
     add_launch_arg("retry_hw", "false", "retry hw")
     add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
     add_launch_arg("host_ip", "255.255.255.255", "host ip address")
@@ -358,6 +361,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("ptp_transport_type", "L2")
     add_launch_arg("ptp_switch_type", "TSN")
     add_launch_arg("ptp_domain", "0")
+    add_launch_arg("ptp_lock_threshold", "100")
     add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
     add_launch_arg("enable_blockage_diag", "true")
     add_launch_arg("horizontal_ring_id", "64")
diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
index d44a3742..40510530 100644
--- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -21,6 +21,7 @@
   <arg name="is_channel_order_top2down" default="false"/>
   <arg name="horizontal_resolution" default="0.4"/>
   <arg name="enable_blockage_diag" default="true"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -44,6 +45,7 @@
     <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
     <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
     <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
index 0071d74d..6a86a913 100644
--- a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
@@ -21,6 +21,7 @@
   <arg name="is_channel_order_top2down" default="false"/>
   <arg name="horizontal_resolution" default="0.4"/>
   <arg name="enable_blockage_diag" default="true"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -44,6 +45,7 @@
     <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
     <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
     <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
index 7c545391..c75b3d87 100644
--- a/common_sensor_launch/launch/velodyne_VLS128.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -21,6 +21,7 @@
   <arg name="is_channel_order_top2down" default="false"/>
   <arg name="horizontal_resolution" default="0.4"/>
   <arg name="enable_blockage_diag" default="false"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -44,6 +45,7 @@
     <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
     <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
     <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 
   <!-- Velodyne Monitor -->