diff --git a/orbbec_camera/config/camera_params.yaml b/orbbec_camera/config/camera_params.yaml
index b74124f4..c3ed3580 100644
--- a/orbbec_camera/config/camera_params.yaml
+++ b/orbbec_camera/config/camera_params.yaml
@@ -18,7 +18,7 @@ enable_3d_reconstruction_mode: false
 # color params
 enable_color: true
 color_width: 640
-color_height: 360
+color_height: 480
 color_fps: 30
 color_format: "MJPG"
 enable_color_auto_exposure: false
@@ -27,7 +27,7 @@ color_gain: -1 # -1 default
 color_qos: "sensor_data"
 
 # depth params
-depth_width: 848
+depth_width: 640
 depth_height: 480
 depth_fps: 60
 depth_format: "Y16"
@@ -35,12 +35,12 @@ depth_qos: "sensor_data"
 
 # ir exposure
 enable_ir_auto_exposure: true
-ir_exposure: -1
-ir_gain: -1
+ir_exposure: 5000
+ir_gain: 40
 
 #left ir params
 enable_left_ir: true
-left_ir_width: 848
+left_ir_width: 640
 left_ir_height: 480
 left_ir_fps: 60
 left_ir_format: "Y8"
@@ -48,7 +48,7 @@ left_ir_qos: "sensor_data"
 
 #right ir params
 enable_right_ir: true
-right_ir_width: 848
+right_ir_width: 640
 right_ir_height: 480
 right_ir_fps: 60
 right_ir_format: "Y8"
diff --git a/orbbec_camera/launch/multi_camera_synced.launch.py b/orbbec_camera/launch/multi_camera_synced.launch.py
index 2000f2dc..12369f4c 100644
--- a/orbbec_camera/launch/multi_camera_synced.launch.py
+++ b/orbbec_camera/launch/multi_camera_synced.launch.py
@@ -112,15 +112,15 @@ def generate_launch_description():
         actions=[left_camera],
     )
     delayed_right_camera = TimerAction(
-        period=0.5,
+        period=1.0,
         actions=[right_camera],
     )
     delayed_rear_camera = TimerAction(
-        period=0.5,
+        period=1.5,
         actions=[rear_camera],
     )
     delayed_front_camera = TimerAction(
-        period=0.5,
+        period=2.0,
         actions=[front_camera],
     )
     ld = LaunchDescription(