diff --git a/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py
index 6374178b2..835089288 100644
--- a/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py
@@ -57,26 +57,11 @@ def generate_launch_description():
               'max_x': 100.0,
               'min_y': -50.0,
               'max_y': 50.0,
-              'min_z': -2.0,
-              'max_z': 3.0,
               'negative': False,
           }
       ]
   )
 
-  passthrough_component = ComposableNode(
-      package=pkg,
-      plugin='pointcloud_preprocessor::PassThroughFilterComponent',
-      name='passthrough_filter',
-      remappings=[
-          ('/input', 'top/rectified/pointcloud'),
-          ('/output', 'concatenated/pointcloud')
-      ],
-      parameters=[{
-          'output_frame': 'base_link',
-      }]
-  )
-
   ground_component = ComposableNode(
       package=pkg,
       plugin='pointcloud_preprocessor::RayGroundFilterComponent',
@@ -112,7 +97,6 @@ def generate_launch_description():
       composable_node_descriptions=[
           concat_component,
           cropbox_component,
-          passthrough_component,
           ground_component,
           relay_component,
       ],
diff --git a/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py
index 6374178b2..835089288 100644
--- a/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py
@@ -57,26 +57,11 @@ def generate_launch_description():
               'max_x': 100.0,
               'min_y': -50.0,
               'max_y': 50.0,
-              'min_z': -2.0,
-              'max_z': 3.0,
               'negative': False,
           }
       ]
   )
 
-  passthrough_component = ComposableNode(
-      package=pkg,
-      plugin='pointcloud_preprocessor::PassThroughFilterComponent',
-      name='passthrough_filter',
-      remappings=[
-          ('/input', 'top/rectified/pointcloud'),
-          ('/output', 'concatenated/pointcloud')
-      ],
-      parameters=[{
-          'output_frame': 'base_link',
-      }]
-  )
-
   ground_component = ComposableNode(
       package=pkg,
       plugin='pointcloud_preprocessor::RayGroundFilterComponent',
@@ -112,7 +97,6 @@ def generate_launch_description():
       composable_node_descriptions=[
           concat_component,
           cropbox_component,
-          passthrough_component,
           ground_component,
           relay_component,
       ],
diff --git a/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
index 6374178b2..835089288 100644
--- a/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
@@ -57,26 +57,11 @@ def generate_launch_description():
               'max_x': 100.0,
               'min_y': -50.0,
               'max_y': 50.0,
-              'min_z': -2.0,
-              'max_z': 3.0,
               'negative': False,
           }
       ]
   )
 
-  passthrough_component = ComposableNode(
-      package=pkg,
-      plugin='pointcloud_preprocessor::PassThroughFilterComponent',
-      name='passthrough_filter',
-      remappings=[
-          ('/input', 'top/rectified/pointcloud'),
-          ('/output', 'concatenated/pointcloud')
-      ],
-      parameters=[{
-          'output_frame': 'base_link',
-      }]
-  )
-
   ground_component = ComposableNode(
       package=pkg,
       plugin='pointcloud_preprocessor::RayGroundFilterComponent',
@@ -112,7 +97,6 @@ def generate_launch_description():
       composable_node_descriptions=[
           concat_component,
           cropbox_component,
-          passthrough_component,
           ground_component,
           relay_component,
       ],
diff --git a/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py
index 6374178b2..835089288 100644
--- a/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py
@@ -57,26 +57,11 @@ def generate_launch_description():
               'max_x': 100.0,
               'min_y': -50.0,
               'max_y': 50.0,
-              'min_z': -2.0,
-              'max_z': 3.0,
               'negative': False,
           }
       ]
   )
 
-  passthrough_component = ComposableNode(
-      package=pkg,
-      plugin='pointcloud_preprocessor::PassThroughFilterComponent',
-      name='passthrough_filter',
-      remappings=[
-          ('/input', 'top/rectified/pointcloud'),
-          ('/output', 'concatenated/pointcloud')
-      ],
-      parameters=[{
-          'output_frame': 'base_link',
-      }]
-  )
-
   ground_component = ComposableNode(
       package=pkg,
       plugin='pointcloud_preprocessor::RayGroundFilterComponent',
@@ -112,7 +97,6 @@ def generate_launch_description():
       composable_node_descriptions=[
           concat_component,
           cropbox_component,
-          passthrough_component,
           ground_component,
           relay_component,
       ],
diff --git a/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py
index 6374178b2..835089288 100644
--- a/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py
+++ b/sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py
@@ -57,26 +57,11 @@ def generate_launch_description():
               'max_x': 100.0,
               'min_y': -50.0,
               'max_y': 50.0,
-              'min_z': -2.0,
-              'max_z': 3.0,
               'negative': False,
           }
       ]
   )
 
-  passthrough_component = ComposableNode(
-      package=pkg,
-      plugin='pointcloud_preprocessor::PassThroughFilterComponent',
-      name='passthrough_filter',
-      remappings=[
-          ('/input', 'top/rectified/pointcloud'),
-          ('/output', 'concatenated/pointcloud')
-      ],
-      parameters=[{
-          'output_frame': 'base_link',
-      }]
-  )
-
   ground_component = ComposableNode(
       package=pkg,
       plugin='pointcloud_preprocessor::RayGroundFilterComponent',
@@ -112,7 +97,6 @@ def generate_launch_description():
       composable_node_descriptions=[
           concat_component,
           cropbox_component,
-          passthrough_component,
           ground_component,
           relay_component,
       ],
diff --git a/sensing_launch/launch/velodyne_node_container.launch.py b/sensing_launch/launch/velodyne_node_container.launch.py
index d3a73f874..94b979ba2 100644
--- a/sensing_launch/launch/velodyne_node_container.launch.py
+++ b/sensing_launch/launch/velodyne_node_container.launch.py
@@ -20,6 +20,13 @@
 from launch_ros.descriptions import ComposableNode
 import uuid
 
+
+def acceptable_unique_name(prefix):
+    id = str(uuid.uuid4())
+    # ros2 apparently doesn't accept the UUID with hyphens in node names
+    return prefix + id.replace('-', '_')
+
+
 def generate_launch_description():
     launch_arguments = []
 
@@ -128,26 +135,22 @@ def create_parameter_dict(*args):
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
-        name=LaunchConfiguration('container_name'),
+        # need unique name, otherwise all processes in same container and the node names then clash
+        name=acceptable_unique_name('velodyne_node_container'),
         namespace='pointcloud_preprocessor',
         package='rclcpp_components',
         executable='component_container',
         composable_node_descriptions=nodes,
     )
 
-    def acceptable_unique_name(prefix='velodyne-driver-node'):
-        id = str(uuid.uuid4())
-        # ros2 doesn't accept hyphens in node names
-        return prefix + id.replace('-', '_')
-
     driver_component = ComposableNode(
         package='velodyne_driver',
         plugin='velodyne_driver::VelodyneDriver',
         # node is created in a global context, need to avoid name clash
-        name=acceptable_unique_name(),
+        name='velodyne_driver',
         parameters=[create_parameter_dict('device_ip', 'frame_id', 'model', 'pcap', 'port',
                                           'read_fast', 'read_once', 'repeat_delay', 'rpm')],
-        )
+    )
 
     # one way to add a ComposableNode conditional on a launch argument to a
     # container. The `ComposableNode` itself doesn't accept a condition