diff --git a/orbbec_camera/CMakeLists.txt b/orbbec_camera/CMakeLists.txt
index ca125055..13b44ba5 100644
--- a/orbbec_camera/CMakeLists.txt
+++ b/orbbec_camera/CMakeLists.txt
@@ -240,6 +240,7 @@ rclcpp_components_register_node(multi_save_rgbir
 )
 # Install rules
 install(TARGETS ${PROJECT_NAME} frame_latency
+  multi_save_rgbir
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
diff --git a/orbbec_camera/config/camera_params.yaml b/orbbec_camera/config/camera_params.yaml
index 0fb78692..3d06273e 100644
--- a/orbbec_camera/config/camera_params.yaml
+++ b/orbbec_camera/config/camera_params.yaml
@@ -34,7 +34,7 @@ depth_qos: "sensor_data"
 depth_camera_info_qos: "sensor_data"
 
 # ir exposure
-enable_ir_auto_exposure: true
+enable_ir_auto_exposure: false
 ir_exposure: 5000
 ir_gain: 40
 
diff --git a/orbbec_camera/config/camera_secondary_params.yaml b/orbbec_camera/config/camera_secondary_params.yaml
index 491250cd..894e625d 100644
--- a/orbbec_camera/config/camera_secondary_params.yaml
+++ b/orbbec_camera/config/camera_secondary_params.yaml
@@ -35,7 +35,7 @@ depth_qos: "sensor_data"
 depth_camera_info_qos: "sensor_data"
 
 # ir exposure
-enable_ir_auto_exposure: true
+enable_ir_auto_exposure: false
 ir_exposure: 5000
 ir_gain: 40
 
diff --git a/orbbec_camera/tools/multi_save_rgbir.cpp b/orbbec_camera/tools/multi_save_rgbir.cpp
index 54315c69..be7b94b4 100644
--- a/orbbec_camera/tools/multi_save_rgbir.cpp
+++ b/orbbec_camera/tools/multi_save_rgbir.cpp
@@ -154,7 +154,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
     color_metadata_.exposure_buffs.resize(left_ir_topics_.size());
     color_metadata_.gain_buffs.resize(left_ir_topics_.size());
     callback_called_ = std::vector<bool>(left_ir_topics_.size(), false);
-    auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default));
+    auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_sensor_data),rmw_qos_profile_sensor_data);
     RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
                        "camera_name_.size(): " << camera_name_.size());
     for (size_t i = 0; i < camera_name_.size(); ++i) {