diff --git a/orbbec_camera/launch/gemini2.launch.py b/orbbec_camera/launch/gemini2.launch.py
index 741f8e02..91c58c23 100644
--- a/orbbec_camera/launch/gemini2.launch.py
+++ b/orbbec_camera/launch/gemini2.launch.py
@@ -47,6 +47,14 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_qos', default_value='default'),
         DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
+        DeclareLaunchArgument('enable_accel', default_value='false'),
+        DeclareLaunchArgument('accel_rate', default_value='100hz'),
+        DeclareLaunchArgument('accel_range', default_value='4g'),
+        DeclareLaunchArgument('enable_gyro', default_value='false'),
+        DeclareLaunchArgument('gyro_rate', default_value='100hz'),
+        DeclareLaunchArgument('gyro_range', default_value='1000dps'),
+        DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
+        DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
         DeclareLaunchArgument('publish_tf', default_value='true'),
         DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
         DeclareLaunchArgument('ir_info_url', default_value=''),
@@ -56,6 +64,9 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('enable_soft_filter', default_value='true'),
         DeclareLaunchArgument('enable_ldp', default_value='true'),
+        DeclareLaunchArgument('enable_soft_filter', default_value='true'),
+        DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
+        DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
     ]
 
     # Node configuration