diff --git a/common_sensor_launch/config/filter.param.yaml b/common_sensor_launch/config/filter.param.yaml
new file mode 100644
index 0000000..abd3968
--- /dev/null
+++ b/common_sensor_launch/config/filter.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    input_frame: ""
+    output_frame: ""
+    max_queue_size: 5
+    use_indices: false
+    latched_indices: false
+    approximate_sync: false
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index a5bdb08..97917fd 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -90,6 +90,10 @@ def create_parameter_dict(*args):
         sensor_calib_fp = ""
 
     # Pointcloud preprocessor parameters
+    filter_param = ParameterFile(
+        param_file=LaunchConfiguration("filter_param_path").perform(context),
+        allow_substs=True,
+    )
     distortion_corrector_node_param = ParameterFile(
         param_file=LaunchConfiguration("distortion_correction_node_param_path").perform(context),
         allow_substs=True,
@@ -169,7 +173,7 @@ def create_parameter_dict(*args):
                 ("input", "pointcloud_raw_ex"),
                 ("output", "self_cropped/pointcloud_ex"),
             ],
-            parameters=[cropbox_parameters],
+            parameters=[filter_param, cropbox_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -191,7 +195,7 @@ def create_parameter_dict(*args):
                 ("input", "self_cropped/pointcloud_ex"),
                 ("output", "mirror_cropped/pointcloud_ex"),
             ],
-            parameters=[cropbox_parameters],
+            parameters=[filter_param, cropbox_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -226,7 +230,7 @@ def create_parameter_dict(*args):
                 ("input", "rectified/pointcloud_ex"),
                 ("output", "pointcloud_before_sync"),
             ],
-            parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
+            parameters=[filter_param, ring_outlier_filter_node_param, ring_outlier_output_frame],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -282,6 +286,16 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg(
         "vehicle_mirror_param_file", description="path to the file of vehicle mirror position yaml"
     )
+
+    add_launch_arg(
+        "filter_param_path",
+        os.path.join(
+            common_sensor_share_dir,
+            "config",
+            "filter.param.yaml",
+        ),
+        description="path to parameter file of filter",
+    )
     add_launch_arg(
         "distortion_correction_node_param_path",
         os.path.join(