diff --git a/nebula_ros/config/lidar/hesai/PandarAT128.param.yaml b/nebula_ros/config/lidar/hesai/PandarAT128.param.yaml
index 024071af3..5f3ab1ba5 100644
--- a/nebula_ros/config/lidar/hesai/PandarAT128.param.yaml
+++ b/nebula_ros/config/lidar/hesai/PandarAT128.param.yaml
@@ -12,8 +12,8 @@
     correction_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat
     min_range: 0.3
     max_range: 300.0
-    cloud_min_angle: 0
-    cloud_max_angle: 360
+    cloud_min_angle: 30
+    cloud_max_angle: 150
     scan_phase: 30.0
     sensor_model: PandarAT128
     calibration_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv