diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index d24b1ff..acb12c6 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 
 import os
+from pathlib import Path
 
 from ament_index_python.packages import get_package_share_directory
 import launch
@@ -31,10 +32,10 @@
 
 def get_lidar_make(sensor_name):
     if sensor_name[:6].lower() == "pandar":
-        return "Hesai", ".csv"
+        return "Hesai"
     elif sensor_name[:3].lower() in ["hdl", "vlp", "vls"]:
-        return "Velodyne", ".yaml"
-    return "unrecognized_sensor_model"
+        return "Velodyne"
+    raise ValueError("Unrecognized sensor model")
 
 
 def get_vehicle_info(context):
@@ -71,19 +72,25 @@ def create_parameter_dict(*args):
 
     # Model and make
     sensor_model = LaunchConfiguration("sensor_model").perform(context)
-    sensor_make, sensor_extension = get_lidar_make(sensor_model)
-    nebula_decoders_share_dir = get_package_share_directory("nebula_decoders")
-
-    # Calibration file
-    sensor_calib_fp = os.path.join(
-        nebula_decoders_share_dir,
-        "calibration",
-        sensor_make.lower(),
-        sensor_model + sensor_extension,
+    sensor_make = get_lidar_make(sensor_model)
+
+    # Configuration file containing sensor model's default parameters
+
+    sensor_config = LaunchConfiguration("config_file").perform(context)
+    if sensor_config == "":
+        sensor_config = (
+            Path(get_package_share_directory("nebula_ros"))
+            / "config"
+            / "lidar"
+            / sensor_make.lower()
+            / (sensor_model + ".param.yaml")
+        )
+    else:
+        sensor_config = Path(sensor_config)
+
+    assert sensor_config.exists(), "Sensor configuration not found: {}".format(
+        sensor_config.absolute().as_posix()
     )
-    assert os.path.exists(
-        sensor_calib_fp
-    ), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
 
     # Pointcloud preprocessor parameters
     distortion_corrector_node_param = ParameterFile(
@@ -104,23 +111,28 @@ def create_parameter_dict(*args):
     nodes.append(
         ComposableNode(
             package="nebula_ros",
-            plugin=sensor_make + "DriverRosWrapper",
-            name=sensor_make.lower() + "_driver_ros_wrapper_node",
+            plugin=sensor_make + "RosWrapper",
+            name=sensor_make.lower() + "_ros_wrapper_node",
             parameters=[
+                ParameterFile(sensor_config, allow_substs=True),
                 {
-                    "calibration_file": sensor_calib_fp,
                     "sensor_model": sensor_model,
+                    "launch_hw": LaunchConfiguration("launch_driver"),
                     **create_parameter_dict(
                         "host_ip",
                         "sensor_ip",
                         "data_port",
-                        "return_mode",
+                        "gnss_port",
+                        "packet_mtu_size",
+                        "setup_sensor",
+                        "frame_id",
                         "min_range",
                         "max_range",
-                        "frame_id",
-                        "scan_phase",
                         "cloud_min_angle",
                         "cloud_max_angle",
+                        "scan_phase",
+                        "rotation_speed",
+                        "return_mode",
                         "dual_return_distance_threshold",
                     ),
                 },
@@ -228,41 +240,7 @@ def create_parameter_dict(*args):
         output="both",
     )
 
-    driver_component = ComposableNode(
-        package="nebula_ros",
-        plugin=sensor_make + "HwInterfaceRosWrapper",
-        # node is created in a global context, need to avoid name clash
-        name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
-        parameters=[
-            {
-                "sensor_model": sensor_model,
-                "calibration_file": sensor_calib_fp,
-                **create_parameter_dict(
-                    "sensor_ip",
-                    "host_ip",
-                    "scan_phase",
-                    "return_mode",
-                    "frame_id",
-                    "rotation_speed",
-                    "data_port",
-                    "gnss_port",
-                    "cloud_min_angle",
-                    "cloud_max_angle",
-                    "packet_mtu_size",
-                    "dual_return_distance_threshold",
-                    "setup_sensor",
-                ),
-            }
-        ],
-    )
-
-    driver_component_loader = LoadComposableNodes(
-        composable_node_descriptions=[driver_component],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("launch_driver")),
-    )
-
-    return [container, driver_component_loader]
+    return [container]
 
 
 def generate_launch_description():