diff --git a/orbbec_camera/config/camera_params.yaml b/orbbec_camera/config/camera_params.yaml
index 380b92af..2cb5290f 100644
--- a/orbbec_camera/config/camera_params.yaml
+++ b/orbbec_camera/config/camera_params.yaml
@@ -1,50 +1,58 @@
 # common params
-depth_registration: true
+depth_registration: false
+enable_d2c_viewer: false
 enable_point_cloud: false
 enable_colored_point_cloud: false
-device_preset: "High Accuracy"
-laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
+enable_ldp: false
+device_preset: "Default"
+enable_laser: true
+
+# enable_laser: true
+interleave_ae_mode: "laser"
+interleave_frame_enable: false
+interleave_skip_enable: false
+interleave_skip_index: 1
 time_domain: "global" # global, device, system
-enable_sync_host_time: false
-frames_per_trigger: 1
+enable_sync_host_time: true
+
+trigger_out_enabled: true
+frames_per_trigger: 0
+software_trigger_period: 0
 
-# When 3D reconstruction mode is enabled:
-# - The laser will switch to on-off mode
-# - IR images without the laser will be used for SLAM localization
-# - Depth images with the laser will be used because they provide better depth quality
-enable_3d_reconstruction_mode: false
 
 # color params
 enable_color: true
-color_width: 640
-color_height: 480
-color_fps: 30
-color_format: "YUYV"
+color_width: 0
+color_height: 0
+color_fps: 0
+color_format: "MJPG"
 enable_color_auto_exposure: true
-color_exposure: 50 # 5ms
-color_gain: -1 # -1 default
+color_exposure: 30 # 3ms
+color_gain: 16 # -1 default
 
 # depth params
-depth_width: 640
-depth_height: 480
-depth_fps: 30
+enable_depth: true
+depth_width: 0
+depth_height: 0
+depth_fps: 0
 depth_format: "Y16"
 
-# ir exposure
-enable_ir_auto_exposure: false
-ir_exposure: 5000 # 5ms
-ir_gain: 40
 
 #left ir params
-enable_left_ir: true
-left_ir_width: 640
-left_ir_height: 480
-left_ir_fps: 30
+enable_left_ir: false
+left_ir_width: 0
+left_ir_height: 0
+left_ir_fps: 0
 left_ir_format: "Y8"
+enable_ir_auto_exposure: true
+ir_exposure: 3000 # 3ms
+ir_gain: 16 # -1 default
 
 #right ir params
-enable_right_ir: true
-right_ir_width: 640
-right_ir_height: 480
-right_ir_fps: 30
+enable_right_ir: false
+right_ir_width: 0
+right_ir_height: 0
+right_ir_fps: 0
 right_ir_format: "Y8"
+
+
diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index 8a3f263f..dce9caa6 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -576,7 +576,6 @@ class OBCameraNode {
   std::unique_ptr<diagnostic_updater::Updater> diagnostic_updater_ = nullptr;
   double diagnostic_period_ = 1.0;
   bool enable_laser_ = false;
-  int laser_on_off_mode_ = 0;
   std::unique_ptr<ob::Align> align_filter_ = nullptr;
   OBStreamType align_target_stream_ = OB_STREAM_COLOR;
   bool retry_on_usb3_detection_failure_ = false;
diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py
index 8e36f43e..c86c1b44 100644
--- a/orbbec_camera/launch/gemini_330_series.launch.py
+++ b/orbbec_camera/launch/gemini_330_series.launch.py
@@ -164,7 +164,6 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_laser', default_value='true'),
         DeclareLaunchArgument('depth_precision', default_value=''),
         DeclareLaunchArgument('device_preset', default_value='Default'),
-        DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
         DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
diff --git a/orbbec_camera/launch/gemini_intra_process_demo_launch.py b/orbbec_camera/launch/gemini_intra_process_demo_launch.py
index fb478050..8360a75b 100644
--- a/orbbec_camera/launch/gemini_intra_process_demo_launch.py
+++ b/orbbec_camera/launch/gemini_intra_process_demo_launch.py
@@ -159,7 +159,6 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_laser', default_value='true'),
         DeclareLaunchArgument('depth_precision', default_value=''),
         DeclareLaunchArgument('device_preset', default_value='Default'),
-        DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
         DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index c806da65..ccf226f6 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -225,10 +225,6 @@ void OBCameraNode::setupDevices() {
     RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
     TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
   }
-  if (device_->isPropertySupported(OB_PROP_LASER_ON_OFF_MODE_INT, OB_PERMISSION_READ_WRITE)) {
-    RCLCPP_INFO_STREAM(logger_, "Setting laser on off mode to " << laser_on_off_mode_);
-    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_ON_OFF_MODE_INT, laser_on_off_mode_);
-  }
   if (!device_preset_.empty()) {
     try {
       RCLCPP_INFO_STREAM(logger_, "Available presets:");
@@ -1247,7 +1243,6 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<std::string>(align_mode_, "align_mode", "HW");
   setAndGetNodeParameter<double>(diagnostic_period_, "diagnostic_period", 1.0);
   setAndGetNodeParameter<bool>(enable_laser_, "enable_laser", true);
-  setAndGetNodeParameter<int>(laser_on_off_mode_, "laser_on_off_mode", 0);
   std::string align_target_stream_str_;
   setAndGetNodeParameter<std::string>(align_target_stream_str_, "align_target_stream", "COLOR");
   align_target_stream_ = obStreamTypeFromString(align_target_stream_str_);
@@ -1260,9 +1255,6 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<int>(max_depth_limit_, "max_depth_limit", 0);
   setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
   setAndGetNodeParameter<bool>(enable_color_undistortion_, "enable_color_undistortion", false);
-  if (enable_3d_reconstruction_mode_) {
-    laser_on_off_mode_ = 1;  // 0 off, 1 on-off, 1 off-on
-  }
   setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "device");
   auto device_info = device_->getDeviceInfo();
   CHECK_NOTNULL(device_info.get());