diff --git a/orbbec_camera/launch/femto_bolt.launch.py b/orbbec_camera/launch/femto_bolt.launch.py
index 0a81a29a..0d72c548 100644
--- a/orbbec_camera/launch/femto_bolt.launch.py
+++ b/orbbec_camera/launch/femto_bolt.launch.py
@@ -21,8 +21,8 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('connection_delay', default_value='100'),
-        DeclareLaunchArgument('color_width', default_value='1920'),
-        DeclareLaunchArgument('color_height', default_value='1080'),
+        DeclareLaunchArgument('color_width', default_value='1280'),
+        DeclareLaunchArgument('color_height', default_value='720'),
         DeclareLaunchArgument('color_fps', default_value='30'),
         DeclareLaunchArgument('color_format', default_value='MJPG'),
         DeclareLaunchArgument('enable_color', default_value='true'),
diff --git a/orbbec_camera/launch/gemini2.launch.py b/orbbec_camera/launch/gemini2.launch.py
index d2003952..57e12150 100644
--- a/orbbec_camera/launch/gemini2.launch.py
+++ b/orbbec_camera/launch/gemini2.launch.py
@@ -22,8 +22,8 @@ def generate_launch_description():
         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_height', default_value='360'),
+        DeclareLaunchArgument('color_fps', default_value='15'),
         DeclareLaunchArgument('color_format', default_value='MJPG'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('flip_color', default_value='false'),
@@ -32,7 +32,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
         DeclareLaunchArgument('depth_width', default_value='640'),
         DeclareLaunchArgument('depth_height', default_value='400'),
-        DeclareLaunchArgument('depth_fps', default_value='30'),
+        DeclareLaunchArgument('depth_fps', default_value='15'),
         DeclareLaunchArgument('depth_format', default_value='Y14'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('flip_depth', default_value='false'),
@@ -40,7 +40,7 @@ def generate_launch_description():
         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_fps', default_value='15'),
         DeclareLaunchArgument('ir_format', default_value='Y8'),
         DeclareLaunchArgument('enable_ir', default_value='true'),
         DeclareLaunchArgument('flip_ir', default_value='false'),
diff --git a/orbbec_camera/launch/gemini2L.launch.py b/orbbec_camera/launch/gemini2L.launch.py
index 24d77fbc..adc8fcfb 100644
--- a/orbbec_camera/launch/gemini2L.launch.py
+++ b/orbbec_camera/launch/gemini2L.launch.py
@@ -21,26 +21,26 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('connection_delay', default_value='100'),
-        DeclareLaunchArgument('color_width', default_value='1280'),
-        DeclareLaunchArgument('color_height', default_value='720'),
-        DeclareLaunchArgument('color_fps', default_value='30'),
+        DeclareLaunchArgument('color_width', default_value='640'),
+        DeclareLaunchArgument('color_height', default_value='400'),
+        DeclareLaunchArgument('color_fps', default_value='15'),
         DeclareLaunchArgument('color_format', default_value='MJPG'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('flip_color', default_value='false'),
         DeclareLaunchArgument('color_qos', default_value='default'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
-        DeclareLaunchArgument('depth_width', default_value='1280'),
-        DeclareLaunchArgument('depth_height', default_value='800'),
-        DeclareLaunchArgument('depth_fps', default_value='30'),
+        DeclareLaunchArgument('depth_width', default_value='640'),
+        DeclareLaunchArgument('depth_height', default_value='400'),
+        DeclareLaunchArgument('depth_fps', default_value='15'),
         DeclareLaunchArgument('depth_format', default_value='Y14'),
         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='1280'),
-        DeclareLaunchArgument('ir_height', default_value='800'),
-        DeclareLaunchArgument('ir_fps', default_value='30'),
+        DeclareLaunchArgument('ir_width', default_value='640'),
+        DeclareLaunchArgument('ir_height', default_value='400'),
+        DeclareLaunchArgument('ir_fps', default_value='15'),
         DeclareLaunchArgument('ir_format', default_value='Y8'),
         DeclareLaunchArgument('enable_ir', default_value='true'),
         DeclareLaunchArgument('flip_ir', default_value='false'),