diff --git a/orbbec_camera/launch/astra.launch.py b/orbbec_camera/launch/astra.launch.py
index a03877c1..bf26f034 100644
--- a/orbbec_camera/launch/astra.launch.py
+++ b/orbbec_camera/launch/astra.launch.py
@@ -62,6 +62,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/astra2.launch.py b/orbbec_camera/launch/astra2.launch.py
index 4473512a..e90fe5ba 100644
--- a/orbbec_camera/launch/astra2.launch.py
+++ b/orbbec_camera/launch/astra2.launch.py
@@ -70,6 +70,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/astra_adv.launch.py b/orbbec_camera/launch/astra_adv.launch.py
index 1047d7a7..00709732 100644
--- a/orbbec_camera/launch/astra_adv.launch.py
+++ b/orbbec_camera/launch/astra_adv.launch.py
@@ -62,6 +62,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/astra_embedded_s.launch.py b/orbbec_camera/launch/astra_embedded_s.launch.py
index 1f5d1faf..937fde35 100644
--- a/orbbec_camera/launch/astra_embedded_s.launch.py
+++ b/orbbec_camera/launch/astra_embedded_s.launch.py
@@ -62,6 +62,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/astra_pro2.launch.py b/orbbec_camera/launch/astra_pro2.launch.py
index 837bc582..eef95d26 100644
--- a/orbbec_camera/launch/astra_pro2.launch.py
+++ b/orbbec_camera/launch/astra_pro2.launch.py
@@ -62,6 +62,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/astra_stereo_u3.launch.py b/orbbec_camera/launch/astra_stereo_u3.launch.py
index 0b4a4c1d..18953f15 100644
--- a/orbbec_camera/launch/astra_stereo_u3.launch.py
+++ b/orbbec_camera/launch/astra_stereo_u3.launch.py
@@ -62,6 +62,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai.launch.py b/orbbec_camera/launch/dabai.launch.py
index 0b4a4c1d..18953f15 100644
--- a/orbbec_camera/launch/dabai.launch.py
+++ b/orbbec_camera/launch/dabai.launch.py
@@ -62,6 +62,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_d1.launch.py b/orbbec_camera/launch/dabai_d1.launch.py
index af2604c8..2d544476 100644
--- a/orbbec_camera/launch/dabai_d1.launch.py
+++ b/orbbec_camera/launch/dabai_d1.launch.py
@@ -50,6 +50,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_dcl.py b/orbbec_camera/launch/dabai_dcl.py
index 6989c124..30c7adc2 100644
--- a/orbbec_camera/launch/dabai_dcl.py
+++ b/orbbec_camera/launch/dabai_dcl.py
@@ -83,6 +83,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_dcw.launch.py b/orbbec_camera/launch/dabai_dcw.launch.py
index 3aef05da..15c37831 100644
--- a/orbbec_camera/launch/dabai_dcw.launch.py
+++ b/orbbec_camera/launch/dabai_dcw.launch.py
@@ -62,6 +62,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_dcw2.launch.py b/orbbec_camera/launch/dabai_dcw2.launch.py
index 28dd5a18..4b3aa8ad 100644
--- a/orbbec_camera/launch/dabai_dcw2.launch.py
+++ b/orbbec_camera/launch/dabai_dcw2.launch.py
@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/femto_mega.launch.py b/orbbec_camera/launch/femto_mega.launch.py
index 9e973e93..7b0be76a 100644
--- a/orbbec_camera/launch/femto_mega.launch.py
+++ b/orbbec_camera/launch/femto_mega.launch.py
@@ -79,6 +79,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini2.launch.py b/orbbec_camera/launch/gemini2.launch.py
index f9e05d9e..c146518d 100644
--- a/orbbec_camera/launch/gemini2.launch.py
+++ b/orbbec_camera/launch/gemini2.launch.py
@@ -83,6 +83,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini2L.launch.py b/orbbec_camera/launch/gemini2L.launch.py
index 1107f8c3..03eb001c 100644
--- a/orbbec_camera/launch/gemini2L.launch.py
+++ b/orbbec_camera/launch/gemini2L.launch.py
@@ -83,6 +83,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini2VL.launch.py b/orbbec_camera/launch/gemini2VL.launch.py
index 353429cc..bd7b18a7 100644
--- a/orbbec_camera/launch/gemini2VL.launch.py
+++ b/orbbec_camera/launch/gemini2VL.launch.py
@@ -76,6 +76,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini2XL.launch.py b/orbbec_camera/launch/gemini2XL.launch.py
index 77d3b7f6..162f8264 100644
--- a/orbbec_camera/launch/gemini2XL.launch.py
+++ b/orbbec_camera/launch/gemini2XL.launch.py
@@ -92,6 +92,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
     ]
 
     # Node configuration