diff --git a/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json b/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json
index b960de9c..f6acaa14 100644
--- a/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json
+++ b/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json
@@ -2,19 +2,22 @@
     "save_rgbir_params": {
         "image_number": "100",
         "usb_ports": [
-            "2-7",
             "2-2",
+            "2-3.3",
+            "2-3.1",
             "2-1"
         ],
         "ir_topics": [
-            "/G0_4J/left_ir/image_raw",
-            "/G1_F0/left_ir/image_raw",
-            "/G2_15/left_ir/image_raw"
+            "/G0_51/left_ir/image_raw",
+            "/G1_54/left_ir/image_raw",
+            "/G2_5Y/left_ir/image_raw",
+            "/G3_47/left_ir/image_raw"
         ],
         "color_topics": [
-            "/G0_4J/color/image_raw",
-            "/G1_F0/color/image_raw",
-            "/G2_15/color/image_raw"
+            "/G0_51/color/image_raw",
+            "/G1_54/color/image_raw",
+            "/G2_5Y/color/image_raw",
+            "/G3_47/color/image_raw"
         ]
     }
 }
\ No newline at end of file
diff --git a/orbbec_camera/launch/gemini_330_series_interleave_laser_g335.launch.py b/orbbec_camera/launch/gemini_330_series_interleave_laser_g335.launch.py
index 4cfe40c1..5d9b38b1 100644
--- a/orbbec_camera/launch/gemini_330_series_interleave_laser_g335.launch.py
+++ b/orbbec_camera/launch/gemini_330_series_interleave_laser_g335.launch.py
@@ -184,7 +184,7 @@ def generate_launch_description():
         DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
         DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
         DeclareLaunchArgument('interleave_skip_enable', default_value='true'),
-        DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:partern ir  1:flood ir
+        DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir  1: skip flood ir
     ]
 
     def get_params(context, args):
diff --git a/orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py b/orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py
index 025a06d6..1d66e896 100644
--- a/orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py
+++ b/orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py
@@ -184,7 +184,7 @@ def generate_launch_description():
         DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
         DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
         DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
-        DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:partern ir  1:flood ir
+        DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir  1: skip flood ir
     ]
 
     def get_params(context, args):
diff --git a/orbbec_camera/launch/multi_camera_synced.launch.py b/orbbec_camera/launch/multi_camera_synced.launch.py
index a701d425..e6ee536e 100644
--- a/orbbec_camera/launch/multi_camera_synced.launch.py
+++ b/orbbec_camera/launch/multi_camera_synced.launch.py
@@ -13,67 +13,54 @@ def generate_launch_description():
     config_file_dir = os.path.join(package_dir, "config")
     config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
 
-    G0_4J = IncludeLaunchDescription(
+    G0_51 = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
         ),
         launch_arguments={
-            "camera_name": "G0_4J",
-            "usb_port": "2-7",
-            "device_num": "5",
-            "sync_mode": "standalone",
+            "camera_name": "G0_51",
+            "usb_port": "2-2",
+            "device_num": "4",
+            "sync_mode": "primary",
             "enable_left_ir":"true",
             "config_file_path": config_file_path,
         }.items(),
     )
 
-    G1_F0 = IncludeLaunchDescription(
+    G1_54 = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
         ),
         launch_arguments={
-            "camera_name": "G1_F0",
-            "usb_port": "2-2",
-            "device_num": "5",
-            "sync_mode": "standalone",
-            "enable_left_ir":"true",
-            "config_file_path": config_file_path,
-        }.items(),
-    )
-    G2_15 = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
-        ),
-        launch_arguments={
-            "camera_name": "G2_15",
-            "usb_port": "2-1",
-            "device_num": "5",
-            "sync_mode": "standalone",
-            "enable_left_ir":"true",
-            "config_file_path": config_file_path,
-        }.items(),
-    )
-    G3_1M = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
-        ),
-        launch_arguments={
-            "camera_name": "G3_1M",
-            "usb_port": "2-1.4.3",
-            "device_num": "5",
+            "camera_name": "G1_54",
+            "usb_port": "2-3.3",
+            "device_num": "4",
             "sync_mode": "secondary_synced",
             "enable_left_ir":"true",
             "config_file_path": config_file_path,
         }.items(),
     )
-    G4_74 = IncludeLaunchDescription(
+    G2_5Y = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
         ),
         launch_arguments={
-            "camera_name": "G4_74",
-            "usb_port": "2-1.4.4.1",
-            "device_num": "5",
+            "camera_name": "G2_5Y",
+            "usb_port": "2-3.1",
+            "device_num": "4",
+            "sync_mode": "secondary_synced",
+            "enable_left_ir":"true",
+            "config_file_path": config_file_path,
+        }.items(),
+    )
+    G3_47 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "G3_47",
+            "usb_port": "2-1",
+            "device_num": "4",
             "sync_mode": "secondary_synced",
             "enable_left_ir":"true",
             "config_file_path": config_file_path,
@@ -95,11 +82,10 @@ def generate_launch_description():
             TimerAction(
                 period=2.0,
                 actions=[
-                    TimerAction(period=0.2, actions=[GroupAction([G1_F0])]),
-                    TimerAction(period=0.2, actions=[GroupAction([G2_15])]),
-                    # TimerAction(period=0.2, actions=[GroupAction([G3_1M])]),
-                    # TimerAction(period=0.2, actions=[GroupAction([G4_74])]),
-                    TimerAction(period=0.2, actions=[GroupAction([G0_4J])]),
+                    TimerAction(period=0.5, actions=[GroupAction([G1_54])]),
+                    TimerAction(period=0.5, actions=[GroupAction([G2_5Y])]),
+                    TimerAction(period=0.5, actions=[GroupAction([G3_47])]),
+                    TimerAction(period=0.5, actions=[GroupAction([G0_51])]),
                 ],
             ),
             # The primary camera should be launched at last