diff --git a/orbbec_camera/tools/set_device_ip.cpp b/orbbec_camera/tools/set_device_ip.cpp
index d6934e35..3a107101 100644
--- a/orbbec_camera/tools/set_device_ip.cpp
+++ b/orbbec_camera/tools/set_device_ip.cpp
@@ -1,6 +1,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include <orbbec_camera/ob_camera_node_driver.h>
 #include <orbbec_camera/utils.h>
+#include <iostream>
 #include <sstream>
 #include <string>
 
@@ -23,7 +24,33 @@ bool parseIpString(const std::string &ip_str, uint8_t ip[4]) {
   return i == 4;
 }
 
+void printHelp() {
+  std::cout << "Usage:\n"
+            << "  ros2 run orbbec_camera set_device_ip --ros-args [params]\n\n"
+            << "Parameters:\n"
+            << "  -p old_ip:=<ip>      Current device IP (default: 192.168.1.10)\n"
+            << "  -p port:=<port>      Device port (default: 8090)\n"
+            << "  -p dhcp:=<bool>      Enable DHCP (default: false)\n"
+            << "  -p lla:=<bool>       Enable LLA (default: false)\n"
+            << "  -p new_ip:=<ip>      New static IP (default: 192.168.1.200)\n"
+            << "  -p mask:=<ip>        Subnet mask (default: 255.255.255.0)\n"
+            << "  -p gateway:=<ip>     Gateway (default: 192.168.1.1)\n\n"
+            << "Examples:\n"
+            << "  ros2 run orbbec_camera set_device_ip --ros-args "
+               "-p old_ip:=192.168.1.10 -p new_ip:=192.168.1.200\n"
+            << "  ros2 run orbbec_camera set_device_ip --ros-args "
+               "-p old_ip:=192.168.1.10 -p dhcp:=true\n";
+}
+
 int main(int argc, char **argv) {
+  for (int i = 1; i < argc; ++i) {
+    const std::string arg(argv[i]);
+    if (arg == "-h" || arg == "--help") {
+      printHelp();
+      return 0;
+    }
+  }
+
   rclcpp::init(argc, argv);
   auto node = std::make_shared<rclcpp::Node>("set_device_ip");
   auto logger = node->get_logger();
@@ -31,6 +58,7 @@ int main(int argc, char **argv) {
   std::string device_ip_str = node->declare_parameter<std::string>("old_ip", "192.168.1.10");
   int port = node->declare_parameter<int>("port", 8090);
   bool dhcp = node->declare_parameter<bool>("dhcp", false);
+  bool lla = node->declare_parameter<bool>("lla", false);
   std::string new_ip_str = node->declare_parameter<std::string>("new_ip", "192.168.1.200");
   std::string mask_str = node->declare_parameter<std::string>("mask", "255.255.255.0");
   std::string gateway_str = node->declare_parameter<std::string>("gateway", "192.168.1.1");
@@ -61,6 +89,13 @@ int main(int argc, char **argv) {
     device->setStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG,
                               reinterpret_cast<const uint8_t *>(&ip_config), sizeof(ip_config));
 
+    if (device->isPropertySupported(OB_PROP_DEVICE_NETWORK_LLA_BOOL, OB_PERMISSION_READ_WRITE)) {
+      device->setBoolProperty(OB_PROP_DEVICE_NETWORK_LLA_BOOL, lla);
+      RCLCPP_INFO(logger, "LLA mode %s.", lla ? "enabled" : "disabled");
+    } else {
+      RCLCPP_WARN(logger, "LLA property is not supported on this device.");
+    }
+
     RCLCPP_INFO(logger, "IP configuration applied successfully.");
     if (dhcp) {
       RCLCPP_INFO(logger, "DHCP mode enabled.");
@@ -83,4 +118,4 @@ int main(int argc, char **argv) {
 
   rclcpp::shutdown();
   return 0;
-}
\ No newline at end of file
+}