diff --git a/orbbec_camera/launch/lidar.launch.py b/orbbec_camera/launch/lidar.launch.py
index 103ecb6b..b855544a 100644
--- a/orbbec_camera/launch/lidar.launch.py
+++ b/orbbec_camera/launch/lidar.launch.py
@@ -109,12 +109,12 @@ def generate_launch_description():
         DeclareLaunchArgument(
             'repetitive_scan_mode',
             default_value='-1',
-            description='Repetitive scan mode. -1 uses device default; other values depend on device capability.'
+            description='Repetitive scan mode. -1 uses device default; 0 non-repeating; 1/2/4 for different repetition frequencies.'
         ),
         DeclareLaunchArgument(
             'filter_level',
             default_value='-1',
-            description='Filtering level. -1 uses default; non-negative integers increase filtering strength.'
+            description='Filtering level. -1 uses default; non-negative integers increase filtering strength, 0-5 are valid levels.'
         ),
         DeclareLaunchArgument(
             'vertical_fov',
diff --git a/orbbec_camera/src/ob_lidar_node.cpp b/orbbec_camera/src/ob_lidar_node.cpp
index 7257a7d5..d76add59 100644
--- a/orbbec_camera/src/ob_lidar_node.cpp
+++ b/orbbec_camera/src/ob_lidar_node.cpp
@@ -635,6 +635,15 @@ void OBLidarNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set)
     // Handle multi-frame publishing for LIDAR_POINT and LIDAR_SPHERE_POINT formats
     if ((format_[LIDAR] == OB_FORMAT_LIDAR_POINT ||
          format_[LIDAR] == OB_FORMAT_LIDAR_SPHERE_POINT)) {
+      if (publish_n_pkts_ == 1) {
+        if (format_[LIDAR] == OB_FORMAT_LIDAR_POINT) {
+          publishPointCloud(frame_set);
+          return;
+        } else if (format_[LIDAR] == OB_FORMAT_LIDAR_SPHERE_POINT) {
+          publishSpherePointCloud(frame_set);
+          return;
+        }
+      }
       std::lock_guard<std::mutex> lock(frame_buffer_mutex_);
       frame_buffer_.push_back(frame_set);
       // If we have enough frames, publish merged point cloud
@@ -1208,13 +1217,14 @@ void OBLidarNode::calcAndPublishStaticTransform() {
   //   }
   //   publishStaticTF(timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
   //                   optical_frame_id_[stream_index]);
-  //   RCLCPP_INFO_STREAM(logger_, "Publishing static transform from " << stream_name_[stream_index]
+  //   RCLCPP_INFO_STREAM(logger_, "Publishing static transform from " <<
+  //   stream_name_[stream_index]
   //                                                                   << " to "
   //                                                                   <<
   //                                                                   stream_name_[base_stream_]);
   //   RCLCPP_INFO_STREAM(logger_, "Translation " << trans[0] << ", " << trans[1] << ", " <<
-  //   trans[2]); RCLCPP_INFO_STREAM(logger_, "Rotation " << Q.getX() << ", " << Q.getY() << ", " <<
-  //   Q.getZ()
+  //   trans[2]); RCLCPP_INFO_STREAM(logger_, "Rotation " << Q.getX() << ", " << Q.getY() << ", "
+  //   << Q.getZ()
   //                                           << ", " << Q.getW());
   // }
   if (enable_imu_) {