diff --git a/orbbec_camera/config/camera_params_nvblox-1280_800_30fps.yaml b/orbbec_camera/config/camera_params_nvblox-1280_800_30fps.yaml
index f5ba5489..0571397c 100644
--- a/orbbec_camera/config/camera_params_nvblox-1280_800_30fps.yaml
+++ b/orbbec_camera/config/camera_params_nvblox-1280_800_30fps.yaml
@@ -1,6 +1,6 @@
 # common params
 depth_registration: false
-enable_point_cloud: false
+enable_point_cloud: true
 enable_colored_point_cloud: false
 device_preset: "High Accuracy"
 time_domain: "global" # global, device, system
diff --git a/orbbec_camera/config/camera_params_cuvslam_nvblox-640_360_60fps.yaml b/orbbec_camera/config/camera_secondary_params_cuvslam-640_360_60fps.yaml
similarity index 88%
rename from orbbec_camera/config/camera_params_cuvslam_nvblox-640_360_60fps.yaml
rename to orbbec_camera/config/camera_secondary_params_cuvslam-640_360_60fps.yaml
index c1b6f4be..3091f904 100644
--- a/orbbec_camera/config/camera_params_cuvslam_nvblox-640_360_60fps.yaml
+++ b/orbbec_camera/config/camera_secondary_params_cuvslam-640_360_60fps.yaml
@@ -8,12 +8,13 @@ enable_sync_host_time: true
 frames_per_trigger: 1
 log_level: "warning"
 enable_laser: false
+trigger_out_enabled: false
 
-interleave_frame_enable: true
-interleave_skip_enable: true
+interleave_frame_enable: false
+interleave_skip_enable: false
 
 # color params
-enable_color: true
+enable_color: false
 color_width: 640
 color_height: 360
 color_fps: 60
@@ -24,7 +25,7 @@ color_gain: -1 # -1 default
 color_qos: "sensor_data"
 
 # depth params
-enable_depth: true
+enable_depth: false
 depth_width: 640
 depth_height: 360
 depth_fps: 60
diff --git a/orbbec_camera/config/camera_secondary_params_nvblox-1280_800_30fps.yaml b/orbbec_camera/config/camera_secondary_params_nvblox-1280_800_30fps.yaml
new file mode 100644
index 00000000..75fdfd68
--- /dev/null
+++ b/orbbec_camera/config/camera_secondary_params_nvblox-1280_800_30fps.yaml
@@ -0,0 +1,54 @@
+# common params
+depth_registration: false
+enable_point_cloud: true
+enable_colored_point_cloud: false
+device_preset: "High Accuracy"
+time_domain: "global" # global, device, system
+enable_sync_host_time: true
+frames_per_trigger: 1
+log_level: "warning"
+enable_laser: true
+trigger_out_enabled: false
+
+interleave_frame_enable: false
+interleave_skip_enable: false
+
+# color params
+enable_color: true
+color_width: 1280
+color_height: 800
+color_fps: 30
+color_format: "MJPG"
+enable_color_auto_exposure: true
+color_exposure: 50 # 5ms
+color_gain: -1 # -1 default
+color_qos: "sensor_data"
+
+# depth params
+enable_depth: true
+depth_width: 1280
+depth_height: 800
+depth_fps: 30
+depth_format: "Y16"
+depth_qos: "sensor_data"
+
+# ir exposure
+enable_ir_auto_exposure: true
+ir_exposure: 5000
+ir_gain: 40
+
+#left ir params
+enable_left_ir: false
+left_ir_width: 1280
+left_ir_height: 800
+left_ir_fps: 30
+left_ir_format: "Y8"
+left_ir_qos: "sensor_data"
+
+#right ir params
+enable_right_ir: false
+right_ir_width: 1280
+right_ir_height: 800
+right_ir_fps: 30
+right_ir_format: "Y8"
+right_ir_qos: "sensor_data"
diff --git a/orbbec_camera/config/camera_secondary_params_nvblox-640_360_30fps.yaml b/orbbec_camera/config/camera_secondary_params_nvblox-640_360_30fps.yaml
new file mode 100644
index 00000000..0d144cb1
--- /dev/null
+++ b/orbbec_camera/config/camera_secondary_params_nvblox-640_360_30fps.yaml
@@ -0,0 +1,54 @@
+# common params
+depth_registration: false
+enable_point_cloud: false
+enable_colored_point_cloud: false
+device_preset: "High Accuracy"
+time_domain: "global" # global, device, system
+enable_sync_host_time: true
+frames_per_trigger: 1
+log_level: "warning"
+enable_laser: true
+trigger_out_enabled: false
+
+interleave_frame_enable: false
+interleave_skip_enable: false
+
+# color params
+enable_color: true
+color_width: 640
+color_height: 360
+color_fps: 30
+color_format: "MJPG"
+enable_color_auto_exposure: true
+color_exposure: 50 # 5ms
+color_gain: -1 # -1 default
+color_qos: "sensor_data"
+
+# depth params
+enable_depth: true
+depth_width: 640
+depth_height: 360
+depth_fps: 30
+depth_format: "Y16"
+depth_qos: "sensor_data"
+
+# ir exposure
+enable_ir_auto_exposure: true
+ir_exposure: 5000
+ir_gain: 40
+
+#left ir params
+enable_left_ir: false
+left_ir_width: 640
+left_ir_height: 360
+left_ir_fps: 30
+left_ir_format: "Y8"
+left_ir_qos: "sensor_data"
+
+#right ir params
+enable_right_ir: false
+right_ir_width: 640
+right_ir_height: 360
+right_ir_fps: 30
+right_ir_format: "Y8"
+right_ir_qos: "sensor_data"