diff --git a/orbbec_camera/launch/multi_camera.launch.py b/orbbec_camera/launch/multi_camera.launch.py
index fd86a54e..6c68f936 100644
--- a/orbbec_camera/launch/multi_camera.launch.py
+++ b/orbbec_camera/launch/multi_camera.launch.py
@@ -1,21 +1,12 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
-from launch.substitutions import LaunchConfiguration
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch_ros.substitutions import FindPackageShare
 from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
 
 
 def generate_launch_description():
-    # Declare arguments
-    camera_name = DeclareLaunchArgument('camera_name', default_value='camera')
-    d_sensor = DeclareLaunchArgument('3d_sensor', default_value='gemini2')
-    camera1_prefix = DeclareLaunchArgument('camera1_prefix', default_value='01')
-    camera2_prefix = DeclareLaunchArgument('camera2_prefix', default_value='02')
-    camera1_usb_port = DeclareLaunchArgument('camera1_usb_port', default_value='2-3.3')
-    camera2_usb_port = DeclareLaunchArgument('camera2_usb_port', default_value='1-4.4')
-    device_num = DeclareLaunchArgument('device_num', default_value='2')
-
     # Node configuration
     cleanup_node = Node(
         package='orbbec_camera',
@@ -25,46 +16,37 @@ def generate_launch_description():
     )
 
     # Include launch files
-    launch_file_dir = FindPackageShare('orbbec_camera').find('orbbec_camera') + '/launch'
+    package_dir = get_package_share_directory('orbbec_camera')
+    launch_file_dir = os.path.join(package_dir, 'launch')
     launch1_include = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(launch_file_dir + '/' + (LaunchConfiguration('3d_sensor') + '.launch.py')),
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'gemini2.launch.py')
+        ),
         launch_arguments={
-            'camera_name': 'camera_' + LaunchConfiguration('camera1_prefix'),
-            'usb_port': LaunchConfiguration('camera1_usb_port'),
-            'device_num': LaunchConfiguration('device_num')
+            'camera_name': 'camera_01',
+            'usb_port': '6-2.4.4.2',
+            'device_num': '2'
         }.items()
     )
 
     launch2_include = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(launch_file_dir + '/' + (LaunchConfiguration('3d_sensor') + '.launch.py')),
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'gemini2.launch.py')
+        ),
         launch_arguments={
-            'camera_name': 'camera_' + LaunchConfiguration('camera2_prefix'),
-            'usb_port': LaunchConfiguration('camera2_usb_port'),
-            'device_num': LaunchConfiguration('device_num')
+            'camera_name': 'camera_02',
+            'usb_port': '6-2.4.1',
+            'device_num': '2'
         }.items()
     )
 
-    # Static TF publisher
-    tf_publisher = Node(
-        package='tf2_ros',
-        executable='static_transform_publisher',
-        name='camera_tf',
-        arguments=['0', '0', '0', '0', '0', '0', 'camera01_link', 'camera02_link']
-    )
+    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
 
     # Launch description
     ld = LaunchDescription([
-        camera_name,
-        d_sensor,
-        camera1_prefix,
-        camera2_prefix,
-        camera1_usb_port,
-        camera2_usb_port,
-        device_num,
         cleanup_node,
         GroupAction([launch1_include]),
         GroupAction([launch2_include]),
-        tf_publisher
     ])
 
     return ld
diff --git a/orbbec_camera/src/list_devices_node.cpp b/orbbec_camera/src/list_devices_node.cpp
index f0c5e330..b033fd51 100644
--- a/orbbec_camera/src/list_devices_node.cpp
+++ b/orbbec_camera/src/list_devices_node.cpp
@@ -4,17 +4,25 @@
 #include <orbbec_camera/utils.h>
 
 int main() {
-  auto context = std::make_unique<ob::Context>();
-  context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
-  auto list = context->queryDeviceList();
-  for (size_t i = 0; i < list->deviceCount(); i++) {
-    auto device = list->getDevice(i);
-    auto device_info = device->getDeviceInfo();
-    std::string serial = device_info->serialNumber();
-    std::string uid = device_info->uid();
-    auto usb_port = orbbec_camera::parseUsbPort(uid);
-    RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
-    RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
+  try {
+    auto context = std::make_unique<ob::Context>();
+    context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
+    auto list = context->queryDeviceList();
+    for (size_t i = 0; i < list->deviceCount(); i++) {
+      auto device = list->getDevice(i);
+      auto device_info = device->getDeviceInfo();
+      std::string serial = device_info->serialNumber();
+      std::string uid = device_info->uid();
+      auto usb_port = orbbec_camera::parseUsbPort(uid);
+      RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
+      RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
+    }
+  } catch (const std::exception &e) {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.what());
+  } catch (ob::Error &e) {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.getMessage());
+  } catch (...) {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), "unknown error");
   }
   return 0;
 }