diff --git a/.vscode/settings.json b/.vscode/settings.json
index be954f3b..7c2789d0 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -72,6 +72,8 @@
         "typeindex": "cpp",
         "typeinfo": "cpp",
         "variant": "cpp",
-        "*.ipp": "cpp"
+        "*.ipp": "cpp",
+        "filesystem": "cpp",
+        "shared_mutex": "cpp"
     }
 }
\ No newline at end of file
diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index 91f70a6c..80af0f66 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -293,6 +293,10 @@ class OBCameraNode {
                                   std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
   void setRESETTimestampCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
                                  std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
+  void setSYNCInterleaveLaserCallback(const std::shared_ptr<SetInt32 ::Request>& request,
+                                      std::shared_ptr<SetInt32 ::Response>& response);
+  void setSYNCHostimeCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
+                                 std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
   bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg);
 
   void saveImageCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request,
@@ -359,6 +363,10 @@ class OBCameraNode {
 
   void setupDepthPostProcessFilter();
 
+  // interleave AE
+  int init_interleave_hdr_param();
+  int init_interleave_laser_param();
+
  private:
   rclcpp::Node* node_ = nullptr;
   std::shared_ptr<ob::Device> device_ = nullptr;
@@ -439,6 +447,8 @@ class OBCameraNode {
   rclcpp::Service<GetInt32>::SharedPtr get_ldp_measure_distance_srv_;
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_immediately_srv_;
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_;
+  rclcpp::Service<SetInt32>::SharedPtr set_interleaver_laser_sync_srv_;
+  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_;
 
   bool enable_sync_output_accel_gyro_ = false;
   bool publish_tf_ = false;
@@ -602,5 +612,11 @@ class OBCameraNode {
   bool use_intra_process_ = false;
   std::string cloud_frame_id_;
   std::vector<std::shared_ptr<ob::Filter>> filter_list_;
+
+  // interleave AE
+  std::string interleave_ae_mode_ = "hdr";  // hdr or laser
+  bool interleave_frame_enable_ = false;
+  bool interleave_skip_enable_ = false;
+  int interleave_skip_index_ = 1;
 };
 }  // namespace orbbec_camera
diff --git a/orbbec_camera/src/ros_service.cpp b/orbbec_camera/src/ros_service.cpp
index ee9cefad..a7468d77 100644
--- a/orbbec_camera/src/ros_service.cpp
+++ b/orbbec_camera/src/ros_service.cpp
@@ -179,6 +179,16 @@ void OBCameraNode::setupCameraCtrlServices() {
                                     std::shared_ptr<SetBool::Response> response) {
         setRESETTimestampCallback(request, response);
       });
+  set_interleaver_laser_sync_srv_ = node_->create_service<SetInt32>(
+      "set_sync_interleaverlaser", [this](const std::shared_ptr<SetInt32::Request> request,
+                                          std::shared_ptr<SetInt32::Response> response) {
+        setSYNCInterleaveLaserCallback(request, response);
+      });
+    set_sync_host_time_srv_ = node_->create_service<SetBool>(
+      "set_sync_hosttime", [this](const std::shared_ptr<SetBool::Request> request,
+                                    std::shared_ptr<SetBool::Response> response) {
+        setSYNCHostimeCallback(request, response);
+      });
 }
 
 void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -815,5 +825,40 @@ void OBCameraNode::setRESETTimestampCallback(
     response->success = false;
   }
 }
-
+void OBCameraNode::setSYNCInterleaveLaserCallback(
+    const std::shared_ptr<SetInt32 ::Request>& request,
+    std::shared_ptr<SetInt32 ::Response>& response) {
+  (void)request;
+  try {
+    device_->setIntProperty(OB_PROP_TIMER_RESET_TRIGGER_OUT_ENABLE_BOOL, request->data);
+    response->success = true;
+  } catch (const ob::Error& e) {
+    response->message = e.getMessage();
+    response->success = false;
+  } catch (const std::exception& e) {
+    response->message = e.what();
+    response->success = false;
+  } catch (...) {
+    response->message = "unknown error";
+    response->success = false;
+  }
+}
+void OBCameraNode::setSYNCHostimeCallback(
+    const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
+    std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
+  (void)request;
+  try {
+    device_->timerSyncWithHost();
+    response->success = true;
+  } catch (const ob::Error& e) {
+    response->message = e.getMessage();
+    response->success = false;
+  } catch (const std::exception& e) {
+    response->message = e.what();
+    response->success = false;
+  } catch (...) {
+    response->message = "unknown error";
+    response->success = false;
+  }
+}
 }  // namespace orbbec_camera