diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h b/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
index 89a89058..a1e957f1 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
@@ -28,7 +28,6 @@
 #include <std_srvs/srv/empty.hpp>
 #include <backward_ros/backward.hpp>
 
-
 namespace orbbec_camera {
 
 class OBCameraNodeDriver : public rclcpp::Node {
@@ -83,6 +82,7 @@ class OBCameraNodeDriver : public rclcpp::Node {
   std::string serial_number_;
   std::string device_unique_id_;
   std::string usb_port_;
+  std::string uvc_backend_;
   bool enumerate_net_device_ = false;  // default false
   std::shared_ptr<Parameters> parameters_ = nullptr;
   std::shared_ptr<std::thread> query_thread_ = nullptr;
diff --git a/orbbec_camera/launch/astra2.launch.py b/orbbec_camera/launch/astra2.launch.py
index 961f674d..56e7c2fb 100644
--- a/orbbec_camera/launch/astra2.launch.py
+++ b/orbbec_camera/launch/astra2.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/astra_embedded_s.launch.py b/orbbec_camera/launch/astra_embedded_s.launch.py
index 2f45e16c..211a2bda 100644
--- a/orbbec_camera/launch/astra_embedded_s.launch.py
+++ b/orbbec_camera/launch/astra_embedded_s.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/astra_stereo_u3.launch.py b/orbbec_camera/launch/astra_stereo_u3.launch.py
index 036ce7f3..35e28ff7 100644
--- a/orbbec_camera/launch/astra_stereo_u3.launch.py
+++ b/orbbec_camera/launch/astra_stereo_u3.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/dabai.launch.py b/orbbec_camera/launch/dabai.launch.py
index 6213005b..187609dd 100644
--- a/orbbec_camera/launch/dabai.launch.py
+++ b/orbbec_camera/launch/dabai.launch.py
@@ -19,15 +19,16 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('connection_delay', default_value='100'),
-        DeclareLaunchArgument('color_width', default_value='640'),
-        DeclareLaunchArgument('color_height', default_value='480'),
-        DeclareLaunchArgument('color_fps', default_value='30'),
-        DeclareLaunchArgument('color_format', default_value='MJPG'),
+        DeclareLaunchArgument('color_width', default_value='0'),
+        DeclareLaunchArgument('color_height', default_value='0'),
+        DeclareLaunchArgument('color_fps', default_value='0'),
+        DeclareLaunchArgument('color_format', default_value='ANY'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('flip_color', default_value='false'),
         DeclareLaunchArgument('color_qos', default_value='default'),
@@ -38,18 +39,18 @@ def generate_launch_description():
         DeclareLaunchArgument('color_gain', default_value='-1'),
         DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
         DeclareLaunchArgument('color_white_balance', default_value='-1'),
-        DeclareLaunchArgument('depth_width', default_value='640'),
-        DeclareLaunchArgument('depth_height', default_value='400'),
-        DeclareLaunchArgument('depth_fps', default_value='30'),
-        DeclareLaunchArgument('depth_format', default_value='Y11'),
+        DeclareLaunchArgument('depth_width', default_value='0'),
+        DeclareLaunchArgument('depth_height', default_value='0'),
+        DeclareLaunchArgument('depth_fps', default_value='0'),
+        DeclareLaunchArgument('depth_format', default_value='ANY'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('flip_depth', default_value='false'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
-        DeclareLaunchArgument('ir_width', default_value='640'),
-        DeclareLaunchArgument('ir_height', default_value='400'),
-        DeclareLaunchArgument('ir_fps', default_value='30'),
-        DeclareLaunchArgument('ir_format', default_value='Y10'),
+        DeclareLaunchArgument('ir_width', default_value='0'),
+        DeclareLaunchArgument('ir_height', default_value='0'),
+        DeclareLaunchArgument('ir_fps', default_value='0'),
+        DeclareLaunchArgument('ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_ir', default_value='true'),
         DeclareLaunchArgument('flip_ir', default_value='false'),
         DeclareLaunchArgument('ir_qos', default_value='default'),
diff --git a/orbbec_camera/launch/dabai_dcl.py b/orbbec_camera/launch/dabai_dcl.py
index f1224426..66d4c292 100644
--- a/orbbec_camera/launch/dabai_dcl.py
+++ b/orbbec_camera/launch/dabai_dcl.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/dabai_dcw.launch.py b/orbbec_camera/launch/dabai_dcw.launch.py
index 9a3b9515..5e1d55f2 100644
--- a/orbbec_camera/launch/dabai_dcw.launch.py
+++ b/orbbec_camera/launch/dabai_dcw.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/dabai_dcw2.launch.py b/orbbec_camera/launch/dabai_dcw2.launch.py
index af357e93..f6e11a62 100644
--- a/orbbec_camera/launch/dabai_dcw2.launch.py
+++ b/orbbec_camera/launch/dabai_dcw2.launch.py
@@ -60,6 +60,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/dabai_max_pro.launch.py b/orbbec_camera/launch/dabai_max_pro.launch.py
index c8c1d35d..e67fecb4 100644
--- a/orbbec_camera/launch/dabai_max_pro.launch.py
+++ b/orbbec_camera/launch/dabai_max_pro.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/deeya.launch.py b/orbbec_camera/launch/deeya.launch.py
index 6237b7b6..7ecc5aac 100644
--- a/orbbec_camera/launch/deeya.launch.py
+++ b/orbbec_camera/launch/deeya.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/femto_bolt.launch.py b/orbbec_camera/launch/femto_bolt.launch.py
index 41d5436e..6adbb008 100644
--- a/orbbec_camera/launch/femto_bolt.launch.py
+++ b/orbbec_camera/launch/femto_bolt.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/gemini2.launch.py b/orbbec_camera/launch/gemini2.launch.py
index a9df1e5b..4b3c558f 100644
--- a/orbbec_camera/launch/gemini2.launch.py
+++ b/orbbec_camera/launch/gemini2.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/gemini2L.launch.py b/orbbec_camera/launch/gemini2L.launch.py
index 6a637533..0a34243f 100644
--- a/orbbec_camera/launch/gemini2L.launch.py
+++ b/orbbec_camera/launch/gemini2L.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/gemini2VL.launch.py b/orbbec_camera/launch/gemini2VL.launch.py
index 3c9039c0..73c78e87 100644
--- a/orbbec_camera/launch/gemini2VL.launch.py
+++ b/orbbec_camera/launch/gemini2VL.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='100'),
diff --git a/orbbec_camera/launch/gemini2XL.launch.py b/orbbec_camera/launch/gemini2XL.launch.py
index e38174c5..72cb7d7e 100644
--- a/orbbec_camera/launch/gemini2XL.launch.py
+++ b/orbbec_camera/launch/gemini2XL.launch.py
@@ -18,6 +18,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py
index f95a2317..b490f326 100644
--- a/orbbec_camera/launch/gemini_330_series.launch.py
+++ b/orbbec_camera/launch/gemini_330_series.launch.py
@@ -83,6 +83,7 @@ def generate_launch_description():
         DeclareLaunchArgument('color_height', default_value='0'),
         DeclareLaunchArgument('color_fps', default_value='0'),
         DeclareLaunchArgument('color_format', default_value='MJPG'),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
diff --git a/orbbec_camera/launch/gemini_e.launch.py b/orbbec_camera/launch/gemini_e.launch.py
index 73629cd3..5b5276a6 100644
--- a/orbbec_camera/launch/gemini_e.launch.py
+++ b/orbbec_camera/launch/gemini_e.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
diff --git a/orbbec_camera/launch/gemini_ew.launch.py b/orbbec_camera/launch/gemini_ew.launch.py
index 12b83a15..125ef860 100644
--- a/orbbec_camera/launch/gemini_ew.launch.py
+++ b/orbbec_camera/launch/gemini_ew.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
diff --git a/orbbec_camera/launch/gemini_uw.launch.py b/orbbec_camera/launch/gemini_uw.launch.py
index c8c1d35d..e67fecb4 100644
--- a/orbbec_camera/launch/gemini_uw.launch.py
+++ b/orbbec_camera/launch/gemini_uw.launch.py
@@ -19,6 +19,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
diff --git a/orbbec_camera/src/ob_camera_node_driver.cpp b/orbbec_camera/src/ob_camera_node_driver.cpp
index fbf29e0e..a3486a62 100644
--- a/orbbec_camera/src/ob_camera_node_driver.cpp
+++ b/orbbec_camera/src/ob_camera_node_driver.cpp
@@ -24,6 +24,8 @@
 #include <csignal>
 #include <sys/mman.h>
 #include <unistd.h>
+#include <algorithm>
+#include <cctype>
 #include <filesystem>
 
 #include <fstream>
@@ -155,6 +157,23 @@ void OBCameraNodeDriver::init() {
   net_device_ip_ = declare_parameter<std::string>("net_device_ip", "");
   net_device_port_ = static_cast<int>(declare_parameter<int>("net_device_port", 0));
   enumerate_net_device_ = declare_parameter<bool>("enumerate_net_device", false);
+  uvc_backend_ = declare_parameter<std::string>("uvc_backend", "auto");
+  std::string uvc_backend = uvc_backend_;
+  std::transform(uvc_backend.begin(), uvc_backend.end(), uvc_backend.begin(),
+                 [](unsigned char c) { return std::tolower(c); });
+  if (uvc_backend == "auto") {
+    RCLCPP_INFO_STREAM(logger_, "Use default UVC backend from SDK config");
+  } else if (uvc_backend == "libuvc") {
+    ctx_->setUVCBackend(UVC_BACKEND_LIBUVC);
+    RCLCPP_INFO_STREAM(logger_, "Set UVC backend to " << uvc_backend_);
+  } else if (uvc_backend == "v4l2") {
+    ctx_->setUVCBackend(UVC_BACKEND_V4L2);
+    RCLCPP_INFO_STREAM(logger_, "Set UVC backend to " << uvc_backend_);
+  } else {
+    RCLCPP_WARN_STREAM(logger_, "Unsupported uvc_backend '"
+                                    << uvc_backend_
+                                    << "', using default UVC backend from SDK config");
+  }
   ctx_->enableNetDeviceEnumeration(enumerate_net_device_);
   ctx_->setDeviceChangedCallback([this](const std::shared_ptr<ob::DeviceList> &removed_list,
                                         const std::shared_ptr<ob::DeviceList> &added_list) {