diff --git a/orbbec_camera/launch/astra.launch.py b/orbbec_camera/launch/astra.launch.py
index b445e4f5..a67d7720 100644
--- a/orbbec_camera/launch/astra.launch.py
+++ b/orbbec_camera/launch/astra.launch.py
@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/astra2.launch.py b/orbbec_camera/launch/astra2.launch.py
index 44f6a329..a1a9a9ec 100644
--- a/orbbec_camera/launch/astra2.launch.py
+++ b/orbbec_camera/launch/astra2.launch.py
@@ -79,6 +79,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/astra_adv.launch.py b/orbbec_camera/launch/astra_adv.launch.py
index a85677f4..9f6f079a 100644
--- a/orbbec_camera/launch/astra_adv.launch.py
+++ b/orbbec_camera/launch/astra_adv.launch.py
@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/astra_embedded_s.launch.py b/orbbec_camera/launch/astra_embedded_s.launch.py
index c06e7783..2af50803 100644
--- a/orbbec_camera/launch/astra_embedded_s.launch.py
+++ b/orbbec_camera/launch/astra_embedded_s.launch.py
@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/astra_pro2.launch.py b/orbbec_camera/launch/astra_pro2.launch.py
index 4b7c23d2..61942039 100644
--- a/orbbec_camera/launch/astra_pro2.launch.py
+++ b/orbbec_camera/launch/astra_pro2.launch.py
@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/astra_stereo_u3.launch.py b/orbbec_camera/launch/astra_stereo_u3.launch.py
index 09071ad1..87d85f98 100644
--- a/orbbec_camera/launch/astra_stereo_u3.launch.py
+++ b/orbbec_camera/launch/astra_stereo_u3.launch.py
@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai.launch.py b/orbbec_camera/launch/dabai.launch.py
index 09071ad1..87d85f98 100644
--- a/orbbec_camera/launch/dabai.launch.py
+++ b/orbbec_camera/launch/dabai.launch.py
@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_d1.launch.py b/orbbec_camera/launch/dabai_d1.launch.py
index 4e012b63..2fd81b17 100644
--- a/orbbec_camera/launch/dabai_d1.launch.py
+++ b/orbbec_camera/launch/dabai_d1.launch.py
@@ -55,6 +55,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_dcl.py b/orbbec_camera/launch/dabai_dcl.py
index 2990156a..371aa888 100644
--- a/orbbec_camera/launch/dabai_dcl.py
+++ b/orbbec_camera/launch/dabai_dcl.py
@@ -92,6 +92,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_dcw.launch.py b/orbbec_camera/launch/dabai_dcw.launch.py
index c38465c2..c4a2389d 100644
--- a/orbbec_camera/launch/dabai_dcw.launch.py
+++ b/orbbec_camera/launch/dabai_dcw.launch.py
@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_dcw2.launch.py b/orbbec_camera/launch/dabai_dcw2.launch.py
index 57345cd1..608f2318 100644
--- a/orbbec_camera/launch/dabai_dcw2.launch.py
+++ b/orbbec_camera/launch/dabai_dcw2.launch.py
@@ -72,6 +72,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_dw.launch.py b/orbbec_camera/launch/dabai_dw.launch.py
index 55d3af51..451a1efe 100644
--- a/orbbec_camera/launch/dabai_dw.launch.py
+++ b/orbbec_camera/launch/dabai_dw.launch.py
@@ -54,6 +54,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_dw2.launch.py b/orbbec_camera/launch/dabai_dw2.launch.py
index 60a15d67..baac379a 100644
--- a/orbbec_camera/launch/dabai_dw2.launch.py
+++ b/orbbec_camera/launch/dabai_dw2.launch.py
@@ -54,6 +54,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_max.launch.py b/orbbec_camera/launch/dabai_max.launch.py
index 478050e2..07406bad 100644
--- a/orbbec_camera/launch/dabai_max.launch.py
+++ b/orbbec_camera/launch/dabai_max.launch.py
@@ -56,6 +56,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_max_pro.launch.py b/orbbec_camera/launch/dabai_max_pro.launch.py
index 49542582..cc630715 100644
--- a/orbbec_camera/launch/dabai_max_pro.launch.py
+++ b/orbbec_camera/launch/dabai_max_pro.launch.py
@@ -72,6 +72,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/dabai_pro.launch.py b/orbbec_camera/launch/dabai_pro.launch.py
index a558a21c..f1142ca8 100644
--- a/orbbec_camera/launch/dabai_pro.launch.py
+++ b/orbbec_camera/launch/dabai_pro.launch.py
@@ -54,6 +54,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/deeya.launch.py b/orbbec_camera/launch/deeya.launch.py
index d1ef1cec..734fb3b0 100644
--- a/orbbec_camera/launch/deeya.launch.py
+++ b/orbbec_camera/launch/deeya.launch.py
@@ -69,6 +69,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/femto.launch.py b/orbbec_camera/launch/femto.launch.py
index 25a88ba2..7382c24a 100644
--- a/orbbec_camera/launch/femto.launch.py
+++ b/orbbec_camera/launch/femto.launch.py
@@ -80,6 +80,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/femto_bolt.launch.py b/orbbec_camera/launch/femto_bolt.launch.py
index f2e1b8d2..69d697eb 100644
--- a/orbbec_camera/launch/femto_bolt.launch.py
+++ b/orbbec_camera/launch/femto_bolt.launch.py
@@ -87,6 +87,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='SW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/femto_mega.launch.py b/orbbec_camera/launch/femto_mega.launch.py
index 304ab43e..4752ee10 100644
--- a/orbbec_camera/launch/femto_mega.launch.py
+++ b/orbbec_camera/launch/femto_mega.launch.py
@@ -93,6 +93,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini2.launch.py b/orbbec_camera/launch/gemini2.launch.py
index 0f8f19ff..b6c55e7c 100644
--- a/orbbec_camera/launch/gemini2.launch.py
+++ b/orbbec_camera/launch/gemini2.launch.py
@@ -93,6 +93,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini2L.launch.py b/orbbec_camera/launch/gemini2L.launch.py
index 2fb9d878..38db185d 100644
--- a/orbbec_camera/launch/gemini2L.launch.py
+++ b/orbbec_camera/launch/gemini2L.launch.py
@@ -93,6 +93,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini2VL.launch.py b/orbbec_camera/launch/gemini2VL.launch.py
index d62c7d69..e61b942a 100644
--- a/orbbec_camera/launch/gemini2VL.launch.py
+++ b/orbbec_camera/launch/gemini2VL.launch.py
@@ -86,6 +86,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini2XL.launch.py b/orbbec_camera/launch/gemini2XL.launch.py
index 66913ecc..5a2e229d 100644
--- a/orbbec_camera/launch/gemini2XL.launch.py
+++ b/orbbec_camera/launch/gemini2XL.launch.py
@@ -102,6 +102,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py
index abc29f7a..029104f7 100644
--- a/orbbec_camera/launch/gemini_330_series.launch.py
+++ b/orbbec_camera/launch/gemini_330_series.launch.py
@@ -166,6 +166,7 @@ def generate_launch_description():
         DeclareLaunchArgument('time_domain', default_value='device'),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     def get_params(context, args):
diff --git a/orbbec_camera/launch/gemini_e.launch.py b/orbbec_camera/launch/gemini_e.launch.py
index d8f32df9..460b45ea 100644
--- a/orbbec_camera/launch/gemini_e.launch.py
+++ b/orbbec_camera/launch/gemini_e.launch.py
@@ -70,6 +70,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini_e_lite.launch.py b/orbbec_camera/launch/gemini_e_lite.launch.py
index 1e537297..a6385d7a 100644
--- a/orbbec_camera/launch/gemini_e_lite.launch.py
+++ b/orbbec_camera/launch/gemini_e_lite.launch.py
@@ -55,6 +55,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini_ew.launch.py b/orbbec_camera/launch/gemini_ew.launch.py
index 3de32fc0..38b8b731 100644
--- a/orbbec_camera/launch/gemini_ew.launch.py
+++ b/orbbec_camera/launch/gemini_ew.launch.py
@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration
diff --git a/orbbec_camera/launch/gemini_ew_lite.launch.py b/orbbec_camera/launch/gemini_ew_lite.launch.py
index b21415e5..40806fd5 100644
--- a/orbbec_camera/launch/gemini_ew_lite.launch.py
+++ b/orbbec_camera/launch/gemini_ew_lite.launch.py
@@ -57,6 +57,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
 
     ]
 
diff --git a/orbbec_camera/launch/gemini_uw.launch.py b/orbbec_camera/launch/gemini_uw.launch.py
index 49542582..cc630715 100644
--- a/orbbec_camera/launch/gemini_uw.launch.py
+++ b/orbbec_camera/launch/gemini_uw.launch.py
@@ -72,6 +72,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration