diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index 132d1895..3635b35e 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -1810,10 +1810,13 @@ bool OBCameraNode::decodeColorFrameToBuffer(const std::shared_ptr<ob::Frame> &fr
   }
   CHECK_NOTNULL(image_publishers_[COLOR]);
   bool has_subscriber = image_publishers_[COLOR]->get_subscription_count() > 0;
-  if (camera_h26x_publishers_[COLOR] &&
-      camera_h26x_publishers_[COLOR]->get_subscription_count() > 0) {
-    has_subscriber = true;
+  if (!camera_h26x_publishers_.empty()) {
+    if (camera_h26x_publishers_[COLOR] &&
+        camera_h26x_publishers_[COLOR]->get_subscription_count() > 0) {
+      has_subscriber = true;
+    }
   }
+
   if (enable_colored_point_cloud_ && depth_registration_cloud_pub_->get_subscription_count() > 0) {
     has_subscriber = true;
   }
@@ -1909,8 +1912,12 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
   has_subscriber =
       has_subscriber || (metadata_publishers_.count(stream_index) &&
                          metadata_publishers_[stream_index]->get_subscription_count() > 0);
-  has_subscriber = has_subscriber || (camera_h26x_publishers_[COLOR] &&
-                                      camera_h26x_publishers_[COLOR]->get_subscription_count() > 0);
+  if (!camera_h26x_publishers_.empty()) {
+    has_subscriber =
+        has_subscriber || (camera_h26x_publishers_[COLOR] &&
+                           camera_h26x_publishers_[COLOR]->get_subscription_count() > 0);
+  }
+
   if (!has_subscriber) {
     return;
   }
@@ -1989,7 +1996,9 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
     publishMetadata(frame, stream_index, camera_info.header);
   }
   CHECK_NOTNULL(image_publishers_[stream_index]);
+
   if (image_publishers_[stream_index]->get_subscription_count() == 0 &&
+      !camera_h26x_publishers_.empty() &&
       (!camera_h26x_publishers_[COLOR] &&
        camera_h26x_publishers_[COLOR]->get_subscription_count() == 0)) {
     return;