diff --git a/orbbec_camera/examples/README.MD b/orbbec_camera/examples/README.MD
new file mode 100644
index 00000000..8457fef3
--- /dev/null
+++ b/orbbec_camera/examples/README.MD
@@ -0,0 +1,16 @@
+# Sample launch for OrbbecSDK_ROS2
+
+These simple examples demonstrate how to easily use the camera with OrbbecSDK_ROS2
+
+## List of Examples:
+
+|                                     Name                                     | Description                                                                                                                                                          | Experience Level | Document |
+| :---------------------------------------------------------------------------: | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------- | ----------------------------------------------------------------------------- |
+|                       [Lower_cpu_usage](./lower_cpu_usage)                       | How to reduce CPU usage for one or more cameras in a ROS 2 environment.                                                                                              | ⭐️             | [Lower_cpu_usage](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/performance/lower_cpu_usage.html) |
+|                            [Net_camera](./net_camera)                            | How to use Net camera in OrbbecSDK_ROS2(Only Femto Mega nad Gemini 335Le)                                                                                            | ⭐️             | [Net_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/configuration/net_camera.html) |
+|                           [Gmsl_camera](./gmsl_camera)                           | How to use GMSL camera.(Only Gemini 335Lg)                                                                                                                           | ⭐️             | [Gmsl_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/gmsl_camera.html) |
+|                             [Benchmark](./benchmark)                             | The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations.                                                               | ⭐️⭐️         | [Benchmark](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/performance/benchmark.html) |
+| [Multi_camera_synced_verification_tool](./multi_camera_synced_verification_tool) | How to verify the synchronization accuracy of multi-camera synchronization.                                                                                          | ⭐️⭐️⭐️     | [Multi_camera_synced_verification_tool](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html) |
+
+
+
diff --git a/orbbec_camera/examples/benchmark/ob_benchmark_0.launch.py b/orbbec_camera/examples/benchmark/ob_benchmark_0.launch.py
new file mode 100644
index 00000000..03fe59fe
--- /dev/null
+++ b/orbbec_camera/examples/benchmark/ob_benchmark_0.launch.py
@@ -0,0 +1,197 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node,LoadComposableNodes
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import UnlessCondition, IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import TextSubstitution
+from launch_ros.descriptions import ComposableNode
+
+def load_yaml(file_path):
+    with open(file_path, 'r') as f:
+        return yaml.safe_load(f)
+
+
+def merge_params(default_params, yaml_params):
+    for key, value in yaml_params.items():
+        if key in default_params:
+            default_params[key] = value
+    return default_params
+
+
+def convert_value(value):
+    if isinstance(value, str):
+        try:
+            return int(value)
+        except ValueError:
+            pass
+        try:
+            return float(value)
+        except ValueError:
+            pass
+        if value.lower() == 'true':
+            return True
+        elif value.lower() == 'false':
+            return False
+    return value
+
+
+def load_parameters(context, args):
+    default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
+    config_file_path = LaunchConfiguration('config_file_path').perform(context)
+    if config_file_path:
+        yaml_params = load_yaml(config_file_path)
+        default_params = merge_params(default_params, yaml_params)
+    skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
+    return {
+        key: (value if key in skip_convert else convert_value(value))
+        for key, value in default_params.items()
+    }
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(package_dir, "examples/benchmark")
+
+    attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
+    component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
+
+    shared_orbbec_container = Node(
+        name=component_container_name_arg,
+        package="rclcpp_components",
+        executable="component_container_mt",
+        output="screen",
+        condition=UnlessCondition(attach_to_shared_component_container_arg),
+    )
+    start_benchmark = LoadComposableNodes(
+        target_container=component_container_name_arg,
+        composable_node_descriptions=[
+        ComposableNode(
+            namespace="start_benchmark",
+            name="start_benchmark",
+            package='orbbec_camera',
+            plugin='orbbec_camera::tools::StartBenchmark',
+            )
+        ]
+    )
+
+    attach_to_shared_component_container_arg = TextSubstitution(text="true")
+
+    args = [
+        DeclareLaunchArgument('uvc_backend', default_value='libuvc'),
+        DeclareLaunchArgument('depth_registration', default_value='false'),
+        DeclareLaunchArgument('color_width', default_value='848'),
+        DeclareLaunchArgument('color_height', default_value='480'),
+        DeclareLaunchArgument('color_fps', default_value='30'),
+        DeclareLaunchArgument('color_format', default_value='MJPG'),
+        DeclareLaunchArgument('enable_color', default_value='true'),
+        DeclareLaunchArgument('depth_width', default_value='848'),
+        DeclareLaunchArgument('depth_height', default_value='480'),
+        DeclareLaunchArgument('depth_fps', default_value='30'),
+        DeclareLaunchArgument('depth_format', default_value='ANY'),
+        DeclareLaunchArgument('enable_depth', default_value='true'),
+        DeclareLaunchArgument('left_ir_width', default_value='848'),
+        DeclareLaunchArgument('left_ir_height', default_value='480'),
+        DeclareLaunchArgument('left_ir_fps', default_value='30'),
+        DeclareLaunchArgument('left_ir_format', default_value='ANY'),
+        DeclareLaunchArgument('enable_left_ir', default_value='true'),
+        DeclareLaunchArgument('right_ir_width', default_value='848'),
+        DeclareLaunchArgument('right_ir_height', default_value='480'),
+        DeclareLaunchArgument('right_ir_fps', default_value='30'),
+        DeclareLaunchArgument('right_ir_format', default_value='ANY'),
+        DeclareLaunchArgument('enable_right_ir', default_value='true'),
+        DeclareLaunchArgument('enable_point_cloud', default_value='false'),
+        DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
+        DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
+        DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
+        DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
+        DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
+        DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'),
+        DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
+        DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
+        DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
+        DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
+    ]
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "usb_port": "2-7",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "usb_port": "2-2",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+    launch3_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_03",
+            "usb_port": "2-1",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+    launch4_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_04",
+            "usb_port": "2-3",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+
+    delayed_left_camera = TimerAction(
+        period=2.0,
+        actions=args+[launch1_include],
+    )
+    delayed_right_camera = TimerAction(
+        period=4.0,
+        actions=args+[launch2_include],
+    )
+    delayed_rear_camera = TimerAction(
+        period=6.0,
+        actions=args+[launch3_include],
+    )
+    delayed_front_camera = TimerAction(
+        period=8.0,
+        actions=args+[launch4_include],
+    )
+    ld = LaunchDescription(
+        [
+            shared_orbbec_container,
+            start_benchmark,
+            delayed_left_camera,
+            delayed_right_camera,
+            delayed_rear_camera,
+            delayed_front_camera,
+        ]
+    )
+
+    return ld
diff --git a/orbbec_camera/examples/benchmark/ob_benchmark_1.launch.py b/orbbec_camera/examples/benchmark/ob_benchmark_1.launch.py
new file mode 100644
index 00000000..d7de1068
--- /dev/null
+++ b/orbbec_camera/examples/benchmark/ob_benchmark_1.launch.py
@@ -0,0 +1,197 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node,LoadComposableNodes
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import UnlessCondition, IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import TextSubstitution
+from launch_ros.descriptions import ComposableNode
+
+def load_yaml(file_path):
+    with open(file_path, 'r') as f:
+        return yaml.safe_load(f)
+
+
+def merge_params(default_params, yaml_params):
+    for key, value in yaml_params.items():
+        if key in default_params:
+            default_params[key] = value
+    return default_params
+
+
+def convert_value(value):
+    if isinstance(value, str):
+        try:
+            return int(value)
+        except ValueError:
+            pass
+        try:
+            return float(value)
+        except ValueError:
+            pass
+        if value.lower() == 'true':
+            return True
+        elif value.lower() == 'false':
+            return False
+    return value
+
+
+def load_parameters(context, args):
+    default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
+    config_file_path = LaunchConfiguration('config_file_path').perform(context)
+    if config_file_path:
+        yaml_params = load_yaml(config_file_path)
+        default_params = merge_params(default_params, yaml_params)
+    skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
+    return {
+        key: (value if key in skip_convert else convert_value(value))
+        for key, value in default_params.items()
+    }
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(package_dir, "examples/benchmark")
+
+    attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
+    component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
+
+    shared_orbbec_container = Node(
+        name=component_container_name_arg,
+        package="rclcpp_components",
+        executable="component_container_mt",
+        output="screen",
+        condition=UnlessCondition(attach_to_shared_component_container_arg),
+    )
+    start_benchmark = LoadComposableNodes(
+        target_container=component_container_name_arg,
+        composable_node_descriptions=[
+        ComposableNode(
+            namespace="start_benchmark",
+            name="start_benchmark",
+            package='orbbec_camera',
+            plugin='orbbec_camera::tools::StartBenchmark',
+            )
+        ]
+    )
+
+    attach_to_shared_component_container_arg = TextSubstitution(text="true")
+
+    args = [
+        DeclareLaunchArgument('uvc_backend', default_value='libuvc'),
+        DeclareLaunchArgument('depth_registration', default_value='false'),
+        DeclareLaunchArgument('color_width', default_value='848'),
+        DeclareLaunchArgument('color_height', default_value='480'),
+        DeclareLaunchArgument('color_fps', default_value='30'),
+        DeclareLaunchArgument('color_format', default_value='MJPG'),
+        DeclareLaunchArgument('enable_color', default_value='true'),
+        DeclareLaunchArgument('depth_width', default_value='848'),
+        DeclareLaunchArgument('depth_height', default_value='480'),
+        DeclareLaunchArgument('depth_fps', default_value='30'),
+        DeclareLaunchArgument('depth_format', default_value='ANY'),
+        DeclareLaunchArgument('enable_depth', default_value='true'),
+        DeclareLaunchArgument('left_ir_width', default_value='848'),
+        DeclareLaunchArgument('left_ir_height', default_value='480'),
+        DeclareLaunchArgument('left_ir_fps', default_value='30'),
+        DeclareLaunchArgument('left_ir_format', default_value='ANY'),
+        DeclareLaunchArgument('enable_left_ir', default_value='true'),
+        DeclareLaunchArgument('right_ir_width', default_value='848'),
+        DeclareLaunchArgument('right_ir_height', default_value='480'),
+        DeclareLaunchArgument('right_ir_fps', default_value='30'),
+        DeclareLaunchArgument('right_ir_format', default_value='ANY'),
+        DeclareLaunchArgument('enable_right_ir', default_value='true'),
+        DeclareLaunchArgument('enable_point_cloud', default_value='false'),
+        DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
+        DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
+        DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
+        DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
+        DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
+        DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='true'),
+        DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
+        DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
+        DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
+        DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
+    ]
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "usb_port": "2-7",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "usb_port": "2-2",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+    launch3_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_03",
+            "usb_port": "2-1",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+    launch4_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_04",
+            "usb_port": "2-3",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+
+    delayed_left_camera = TimerAction(
+        period=2.0,
+        actions=args+[launch1_include],
+    )
+    delayed_right_camera = TimerAction(
+        period=4.0,
+        actions=args+[launch2_include],
+    )
+    delayed_rear_camera = TimerAction(
+        period=6.0,
+        actions=args+[launch3_include],
+    )
+    delayed_front_camera = TimerAction(
+        period=8.0,
+        actions=args+[launch4_include],
+    )
+    ld = LaunchDescription(
+        [
+            shared_orbbec_container,
+            start_benchmark,
+            delayed_left_camera,
+            delayed_right_camera,
+            delayed_rear_camera,
+            delayed_front_camera,
+        ]
+    )
+
+    return ld
diff --git a/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py b/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py
new file mode 100644
index 00000000..1404a8e0
--- /dev/null
+++ b/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py
@@ -0,0 +1,110 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node, LoadComposableNodes
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import UnlessCondition, IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import TextSubstitution
+from launch_ros.descriptions import ComposableNode
+
+
+def load_yaml(file_path):
+    with open(file_path, "r") as f:
+        return yaml.safe_load(f)
+
+
+def merge_params(default_params, yaml_params):
+    for key, value in yaml_params.items():
+        if key in default_params:
+            default_params[key] = value
+    return default_params
+
+
+def convert_value(value):
+    if isinstance(value, str):
+        try:
+            return int(value)
+        except ValueError:
+            pass
+        try:
+            return float(value)
+        except ValueError:
+            pass
+        if value.lower() == "true":
+            return True
+        elif value.lower() == "false":
+            return False
+    return value
+
+
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(
+        package_dir, "examples/gmsl_camera"
+    )
+    config_file_dir = os.path.join(package_dir, "config")
+    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
+
+    attach_to_shared_component_container_arg = LaunchConfiguration(
+        "attach_to_shared_component_container", default=False
+    )
+    component_container_name_arg = LaunchConfiguration(
+        "component_container_name", default="shared_orbbec_container"
+    )
+
+    shared_orbbec_container = Node(
+        name=component_container_name_arg,
+        package="rclcpp_components",
+        executable="component_container_mt",
+        output="screen",
+        condition=UnlessCondition(attach_to_shared_component_container_arg),
+    )
+
+    attach_to_shared_component_container_arg = TextSubstitution(text="true")
+
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "usb_port": "gmsl2-1",
+            "device_num": "2",
+            "sync_mode": "secondary_synced",
+            "gmsl_trigger_fps": "3000",
+            "enable_gmsl_trigger": "true",
+            "config_file_path": secondary_config_file_path,
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "usb_port": "gmsl2-3",
+            "device_num": "2",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+
+    # Launch description
+    ld = LaunchDescription(
+        [
+            shared_orbbec_container,
+            TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
+            TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
+        ]
+    )
+
+    return ld
diff --git a/orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py b/orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py
new file mode 100644
index 00000000..d2135873
--- /dev/null
+++ b/orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py
@@ -0,0 +1,150 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node,LoadComposableNodes
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import UnlessCondition, IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import TextSubstitution
+from launch_ros.descriptions import ComposableNode
+
+def load_yaml(file_path):
+    with open(file_path, 'r') as f:
+        return yaml.safe_load(f)
+
+
+def merge_params(default_params, yaml_params):
+    for key, value in yaml_params.items():
+        if key in default_params:
+            default_params[key] = value
+    return default_params
+
+
+def convert_value(value):
+    if isinstance(value, str):
+        try:
+            return int(value)
+        except ValueError:
+            pass
+        try:
+            return float(value)
+        except ValueError:
+            pass
+        if value.lower() == 'true':
+            return True
+        elif value.lower() == 'false':
+            return False
+    return value
+
+
+def load_parameters(context, args):
+    default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
+    config_file_path = LaunchConfiguration('config_file_path').perform(context)
+    if config_file_path:
+        yaml_params = load_yaml(config_file_path)
+        default_params = merge_params(default_params, yaml_params)
+    skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
+    return {
+        key: (value if key in skip_convert else convert_value(value))
+        for key, value in default_params.items()
+    }
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(package_dir, "examples/lower_cpu_usage")
+
+    attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
+    component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
+
+    shared_orbbec_container = Node(
+        name=component_container_name_arg,
+        package="rclcpp_components",
+        executable="component_container_mt",
+        output="screen",
+        condition=UnlessCondition(attach_to_shared_component_container_arg),
+    )
+
+    attach_to_shared_component_container_arg = TextSubstitution(text="true")
+
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "usb_port": "2-7",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "usb_port": "2-2",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+    launch3_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_03",
+            "usb_port": "2-6",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+    launch4_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_04",
+            "usb_port": "2-3",
+            "device_num": "4",
+            "sync_mode": "standalone",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+
+    delayed_left_camera = TimerAction(
+        period=2.0,
+        actions=[launch1_include],
+    )
+    delayed_right_camera = TimerAction(
+        period=4.0,
+        actions=[launch2_include],
+    )
+    delayed_rear_camera = TimerAction(
+        period=6.0,
+        actions=[launch3_include],
+    )
+    delayed_front_camera = TimerAction(
+        period=8.0,
+        actions=[launch4_include],
+    )
+    ld = LaunchDescription(
+        [
+            shared_orbbec_container,
+            TimerAction(period=0.0, actions=[GroupAction([delayed_left_camera])]),
+            TimerAction(period=2.0, actions=[GroupAction([delayed_right_camera])]),
+            TimerAction(period=4.0, actions=[GroupAction([delayed_rear_camera])]),
+            TimerAction(period=6.0, actions=[GroupAction([delayed_front_camera])]),
+        ]
+    )
+
+    return ld
diff --git a/orbbec_camera/examples/multi_camera_synced_verification_tool/multi_camera_synced_verify.launch.py b/orbbec_camera/examples/multi_camera_synced_verification_tool/multi_camera_synced_verify.launch.py
new file mode 100644
index 00000000..b81b8552
--- /dev/null
+++ b/orbbec_camera/examples/multi_camera_synced_verification_tool/multi_camera_synced_verify.launch.py
@@ -0,0 +1,126 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node, LoadComposableNodes
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import UnlessCondition, IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import TextSubstitution
+from launch_ros.descriptions import ComposableNode
+
+
+def load_yaml(file_path):
+    with open(file_path, "r") as f:
+        return yaml.safe_load(f)
+
+
+def merge_params(default_params, yaml_params):
+    for key, value in yaml_params.items():
+        if key in default_params:
+            default_params[key] = value
+    return default_params
+
+
+def convert_value(value):
+    if isinstance(value, str):
+        try:
+            return int(value)
+        except ValueError:
+            pass
+        try:
+            return float(value)
+        except ValueError:
+            pass
+        if value.lower() == "true":
+            return True
+        elif value.lower() == "false":
+            return False
+    return value
+
+
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(
+        package_dir, "examples/multi_camera_synced_verification_tool"
+    )
+    config_file_dir = os.path.join(package_dir, "config")
+    config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
+    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
+
+    attach_to_shared_component_container_arg = LaunchConfiguration(
+        "attach_to_shared_component_container", default=False
+    )
+    component_container_name_arg = LaunchConfiguration(
+        "component_container_name", default="shared_orbbec_container"
+    )
+
+    shared_orbbec_container = Node(
+        name=component_container_name_arg,
+        package="rclcpp_components",
+        executable="component_container_mt",
+        output="screen",
+        condition=UnlessCondition(attach_to_shared_component_container_arg),
+    )
+
+    save_rgbir = LoadComposableNodes(
+        target_container=component_container_name_arg,
+        composable_node_descriptions=[
+            ComposableNode(
+                namespace="save_rgbir",
+                name="save_rgbir",
+                package="orbbec_camera",
+                plugin="orbbec_camera::tools::MultiCameraSubscriber",
+            )
+        ],
+    )
+
+    attach_to_shared_component_container_arg = TextSubstitution(text="true")
+
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_synced_verify.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "usb_port": "2-1",
+            "device_num": "2",
+            "sync_mode": "primary",
+            "config_file_path": config_file_path,
+            "trigger_out_enabled": "true",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_synced_verify.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "usb_port": "2-3",
+            "device_num": "2",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+            "trigger_out_enabled": "false",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+
+    # Launch description
+    ld = LaunchDescription(
+        [
+            shared_orbbec_container,
+            TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
+            TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
+            # The primary camera should be launched at last
+            TimerAction(period=6.0, actions=[GroupAction([save_rgbir])]),
+            # save_rgbir is synced verification tool
+        ]
+    )
+
+    return ld
diff --git a/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/DevicesInfo.txt b/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/DevicesInfo.txt
new file mode 100644
index 00000000..34720dc6
--- /dev/null
+++ b/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/DevicesInfo.txt
@@ -0,0 +1,42 @@
+{
+	"deviceVid":	"0x2BC5",
+	"devicePid":	"0x0800",
+	"primarySerialNumber":	"CP1E5420006D",
+	"devices":	[{
+			"index":	0,
+			"isPrimaryDevice":	true,
+			"vid":	"0x2BC5",
+			"pid":	"0x0800",
+			"name":	"Orbbec Gemini 335",
+			"firmwareVersion":	"1.3.64",
+			"serialNumber":	"CP1E5420006D",
+			"hardwareVersion":	"0.1",
+			"ipAddress":	"0.0.0.0",
+			"extensionInfo":	{
+				"ExtensionInfo":	{
+					"IspFwVer":	"20240820",
+					"IspNeedVer":	"20240820",
+					"HwType":	"R1",
+					"HwVer":	"V1.1"
+				}
+			}
+		}, {
+			"index":	1,
+			"isPrimaryDevice":	false,
+			"vid":	"0x2BC5",
+			"pid":	"0x0800",
+			"name":	"Orbbec Gemini 335",
+			"firmwareVersion":	"1.3.64",
+			"serialNumber":	"CP1L44P00051",
+			"hardwareVersion":	"0.1",
+			"ipAddress":	"0.0.0.0",
+			"extensionInfo":	{
+				"ExtensionInfo":	{
+					"IspFwVer":	"20240820",
+					"IspNeedVer":	"20240820",
+					"HwType":	"R1",
+					"HwVer":	"V1.0"
+				}
+			}
+		}]
+}
diff --git a/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/StreamProfileInfo.txt b/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/StreamProfileInfo.txt
new file mode 100644
index 00000000..3b429448
--- /dev/null
+++ b/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/StreamProfileInfo.txt
@@ -0,0 +1,16 @@
+{
+	"D2CAlignMode":	"ALIGN_D2C_SW_MODE",
+	"streamProfiles":	[{
+			"sensorType":	"OB_SENSOR_COLOR",
+			"width":	1280,
+			"height":	720,
+			"fps":	30,
+			"format":	"MJPEG"
+		}, {
+			"sensorType":	"OB_SENSOR_IR_LEFT",
+			"width":	848,
+			"height":	480,
+			"fps":	30,
+			"format":	"Y8"
+		}]
+}
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diff --git a/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/results-2025-02-25_163648/frameMatchLog.txt b/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/results-2025-02-25_163648/frameMatchLog.txt
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+++ b/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/results-2025-02-25_163648/frameMatchLog.txt
@@ -0,0 +1,55 @@
+===================result key:0
+=====================result value : deviceId:0	sensorType:ir_left	syncTimeStamp:1739874543527	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/ir#left_SNCP1E5420006D_Index0_g1739874543527_f9_s1739874543627_e5000_d16_.jpg
+=====================result value : deviceId:1	sensorType:color	syncTimeStamp:1739874543527	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/color_SNCP1L44P00051_Index1_g1739874543527_f9_s1739874543616_e50_d16_.jpg
+=====================result value : deviceId:1	sensorType:ir_left	syncTimeStamp:1739874543527	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/ir#left_SNCP1L44P00051_Index1_g1739874543527_f10_s1739874543687_e5000_d16_.jpg
+=====================result value : deviceId:0	sensorType:color	syncTimeStamp:1739874543527	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543527_f9_s1739874543603_e50_d16_.jpg
+===================result key:1
+=====================result value : deviceId:0	sensorType:ir_left	syncTimeStamp:1739874543494	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/ir#left_SNCP1E5420006D_Index0_g1739874543494_f8_s1739874543528_e5000_d16_.jpg
+=====================result value : deviceId:1	sensorType:color	syncTimeStamp:1739874543494	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/color_SNCP1L44P00051_Index1_g1739874543494_f8_s1739874543540_e50_d16_.jpg
+=====================result value : deviceId:1	sensorType:ir_left	syncTimeStamp:1739874543494	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/ir#left_SNCP1L44P00051_Index1_g1739874543494_f8_s1739874543687_e5000_d16_.jpg
+=====================result value : deviceId:0	sensorType:color	syncTimeStamp:1739874543494	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543494_f8_s1739874543548_e50_d16_.jpg
+===================result key:2
+=====================result value : deviceId:0	sensorType:ir_left	syncTimeStamp:1739874543461	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/ir#left_SNCP1E5420006D_Index0_g1739874543461_f7_s1739874543493_e5000_d16_.jpg
+=====================result value : deviceId:1	sensorType:color	syncTimeStamp:1739874543460	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/color_SNCP1L44P00051_Index1_g1739874543460_f7_s1739874543505_e50_d16_.jpg
+=====================result value : deviceId:1	sensorType:ir_left	syncTimeStamp:1739874543460	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/ir#left_SNCP1L44P00051_Index1_g1739874543460_f7_s1739874543685_e5000_d16_.jpg
+=====================result value : deviceId:0	sensorType:color	syncTimeStamp:1739874543461	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543461_f7_s1739874543520_e50_d16_.jpg
+===================result key:3
+=====================result value : deviceId:0	sensorType:ir_left	syncTimeStamp:1739874543260	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/ir#left_SNCP1E5420006D_Index0_g1739874543260_f1_s1739874543310_e5000_d16_.jpg
+=====================result value : deviceId:1	sensorType:color	syncTimeStamp:1739874543260	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/color_SNCP1L44P00051_Index1_g1739874543260_f1_s1739874543345_e50_d16_.jpg
+=====================result value : deviceId:1	sensorType:ir_left	syncTimeStamp:1739874543260	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/ir#left_SNCP1L44P00051_Index1_g1739874543260_f1_s1739874543294_e5000_d16_.jpg
+=====================result value : deviceId:0	sensorType:color	syncTimeStamp:1739874543260	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543260_f1_s1739874543351_e50_d16_.jpg
+===================result key:4
+=====================result value : deviceId:0	sensorType:ir_left	syncTimeStamp:1739874543361	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/ir#left_SNCP1E5420006D_Index0_g1739874543361_f4_s1739874543405_e5000_d16_.jpg
+=====================result value : deviceId:1	sensorType:color	syncTimeStamp:1739874543360	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/color_SNCP1L44P00051_Index1_g1739874543360_f4_s1739874543468_e50_d16_.jpg
+=====================result value : deviceId:1	sensorType:ir_left	syncTimeStamp:1739874543360	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/ir#left_SNCP1L44P00051_Index1_g1739874543360_f4_s1739874543460_e5000_d16_.jpg
+=====================result value : deviceId:0	sensorType:color	syncTimeStamp:1739874543360	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543360_f4_s1739874543442_e50_d16_.jpg
+===================result key:5
+=====================result value : deviceId:0	sensorType:ir_left	syncTimeStamp:1739874543327	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/ir#left_SNCP1E5420006D_Index0_g1739874543327_f3_s1739874543393_e5000_d16_.jpg
+=====================result value : deviceId:1	sensorType:color	syncTimeStamp:1739874543327	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/color_SNCP1L44P00051_Index1_g1739874543327_f3_s1739874543458_e50_d16_.jpg
+=====================result value : deviceId:1	sensorType:ir_left	syncTimeStamp:1739874543327	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/ir#left_SNCP1L44P00051_Index1_g1739874543327_f3_s1739874543460_e5000_d16_.jpg
+=====================result value : deviceId:0	sensorType:color	syncTimeStamp:1739874543327	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543327_f3_s1739874543441_e50_d16_.jpg
+===================result key:6
+=====================result value : deviceId:0	sensorType:ir_left	syncTimeStamp:1739874543561	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/ir#left_SNCP1E5420006D_Index0_g1739874543561_f10_s1739874543628_e5000_d16_.jpg
+=====================result value : deviceId:1	sensorType:color	syncTimeStamp:1739874543560	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/color_SNCP1L44P00051_Index1_g1739874543560_f10_s1739874543618_e50_d16_.jpg
+=====================result value : deviceId:1	sensorType:ir_left	syncTimeStamp:1739874543560	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/ir#left_SNCP1L44P00051_Index1_g1739874543560_f11_s1739874543687_e5000_d16_.jpg
+=====================result value : deviceId:0	sensorType:color	syncTimeStamp:1739874543561	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543561_f10_s1739874543648_e50_d16_.jpg
+===================result key:7
+=====================result value : deviceId:0	sensorType:ir_left	syncTimeStamp:1739874543427	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/ir#left_SNCP1E5420006D_Index0_g1739874543427_f6_s1739874543474_e5000_d16_.jpg
+=====================result value : deviceId:1	sensorType:color	syncTimeStamp:1739874543427	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/color_SNCP1L44P00051_Index1_g1739874543427_f6_s1739874543485_e50_d16_.jpg
+=====================result value : deviceId:1	sensorType:ir_left	syncTimeStamp:1739874543427	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/ir#left_SNCP1L44P00051_Index1_g1739874543427_f6_s1739874543684_e5000_d16_.jpg
+=====================result value : deviceId:0	sensorType:color	syncTimeStamp:1739874543427	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543427_f6_s1739874543518_e50_d16_.jpg
+===================result key:8
+=====================result value : deviceId:0	sensorType:ir_left	syncTimeStamp:1739874543294	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/ir#left_SNCP1E5420006D_Index0_g1739874543294_f2_s1739874543329_e5000_d16_.jpg
+=====================result value : deviceId:1	sensorType:color	syncTimeStamp:1739874543293	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/color_SNCP1L44P00051_Index1_g1739874543293_f2_s1739874543446_e50_d16_.jpg
+=====================result value : deviceId:1	sensorType:ir_left	syncTimeStamp:1739874543294	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/ir#left_SNCP1L44P00051_Index1_g1739874543294_f2_s1739874543319_e5000_d16_.jpg
+=====================result value : deviceId:0	sensorType:color	syncTimeStamp:1739874543294	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543294_f2_s1739874543359_e50_d16_.jpg
+===================result key:9
+=====================result value : deviceId:0	sensorType:ir_left	syncTimeStamp:1739874543394	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/ir#left_SNCP1E5420006D_Index0_g1739874543394_f5_s1739874543473_e5000_d16_.jpg
+=====================result value : deviceId:1	sensorType:color	syncTimeStamp:1739874543393	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/color_SNCP1L44P00051_Index1_g1739874543393_f5_s1739874543470_e50_d16_.jpg
+=====================result value : deviceId:1	sensorType:ir_left	syncTimeStamp:1739874543394	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/ir#left_SNCP1L44P00051_Index1_g1739874543394_f5_s1739874543661_e5000_d16_.jpg
+=====================result value : deviceId:0	sensorType:color	syncTimeStamp:1739874543394	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543394_f5_s1739874543506_e50_d16_.jpg
+===================result key:10
+=====================result value : deviceId:0	sensorType:ir_left	syncTimeStamp:1739874543227	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/ir#left_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543250_e5000_d16_.jpg
+=====================result value : deviceId:1	sensorType:color	syncTimeStamp:1739874543227	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/color_SNCP1L44P00051_Index1_g1739874543227_f0_s1739874543304_e50_d16_.jpg
+=====================result value : deviceId:1	sensorType:ir_left	syncTimeStamp:1739874543227	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1L44P00051_Index1/ir#left_SNCP1L44P00051_Index1_g1739874543227_f0_s1739874543250_e5000_d16_.jpg
+=====================result value : deviceId:0	sensorType:color	syncTimeStamp:1739874543227	picturePath:/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg
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diff --git a/orbbec_camera/examples/net_camera/multi_net_camera.launch.py b/orbbec_camera/examples/net_camera/multi_net_camera.launch.py
new file mode 100644
index 00000000..5804fc3d
--- /dev/null
+++ b/orbbec_camera/examples/net_camera/multi_net_camera.launch.py
@@ -0,0 +1,47 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(package_dir, "launch")
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "femto_mega.launch.py")  # If you are using Gemini 335Le, replace femto_mega.launch.py ​​with gemini_330_series.launch.py
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "net_device_ip": "192.168.1.10",
+            "net_device_port": "8090",
+            "sync_mode": "standalone",
+        }.items(),
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "femto_mega.launch.py")  # If you are using Gemini 335Le, replace femto_mega.launch.py ​​with gemini_330_series.launch.py
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "net_device_ip": "192.168.1.11",
+            "net_device_port": "8090",
+            "sync_mode": "standalone",
+        }.items(),
+    )
+
+    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
+
+    # Launch description
+    ld = LaunchDescription(
+        [
+            TimerAction(period=0.0, actions=[GroupAction([launch1_include])]),
+            TimerAction(period=2.0, actions=[GroupAction([launch2_include])]),
+        ]
+    )
+
+    return ld
diff --git a/orbbec_camera/launch/orbbec_camera.launch.py b/orbbec_camera/launch/orbbec_camera.launch.py
new file mode 100644
index 00000000..8d354ed0
--- /dev/null
+++ b/orbbec_camera/launch/orbbec_camera.launch.py
@@ -0,0 +1,185 @@
+import os
+import yaml
+import logging
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.descriptions import ComposableNode
+from launch.conditions import UnlessCondition
+from launch_ros.actions import LoadComposableNodes
+from ament_index_python.packages import get_package_share_directory
+import sys
+sys.path.append(os.path.dirname(os.path.realpath(__file__)))
+from utils_yaml import *
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+
+default_package_name = 'orbbec_camera'
+default_camera_model = 'gemini330_series'
+default_common_yaml  = 'common.yaml'
+default_component_container_name = 'orbbec_container'
+
+def generate_launch_arguments():
+    launch_arguments = [
+        #general config
+        DeclareLaunchArgument('camera_model', default_value=default_camera_model),
+        DeclareLaunchArgument('config_file_path', default_value=''),
+        #multi-device sync param
+        DeclareLaunchArgument('camera_name', default_value='camera'),
+        DeclareLaunchArgument('usb_port', default_value=''),
+        DeclareLaunchArgument('device_num', default_value='1'),
+        DeclareLaunchArgument('sync_mode', default_value='standalone'),
+        DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
+        #instra-process demo set
+        DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
+        DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
+        DeclareLaunchArgument('attach_component_container_name', default_value=default_component_container_name),
+    ]
+    return launch_arguments
+
+
+def load_common_yaml_params():
+    common_yaml_path = os.path.join(
+        get_package_share_directory(default_package_name), 'config', default_common_yaml
+    )
+    common_yaml_path = get_absolute_path(common_yaml_path, package_name=default_package_name)
+    logger.info(f"load convert Absolute path: {common_yaml_path}")
+    return load_and_parse_yaml(common_yaml_path)
+
+
+def load_config_yaml_params(config_file_path, camera_model):
+    config_yaml_path = config_file_path or os.path.join(
+        get_package_share_directory(default_package_name), 'config', f"{camera_model}.yaml"
+    )
+    config_yaml_path = get_absolute_path(config_yaml_path, package_name=default_package_name)
+    print(f"load convert Absolute config_yaml_path: {config_yaml_path}")
+    return load_and_parse_yaml(config_yaml_path)
+
+
+def load_parameters(context, args):
+    camera_model = LaunchConfiguration("camera_model").perform(context)
+    config_file_path = LaunchConfiguration("config_file_path").perform(context)
+    usb_port = LaunchConfiguration("usb_port").perform(context)
+    print(f"camera_model: {camera_model}", f"config_file_path: {config_file_path}", f"usb_port: {usb_port}")
+
+    try:
+        #1.load ymal params
+        yaml_common_params = load_common_yaml_params()
+        yaml_params = load_config_yaml_params(config_file_path,camera_model)
+        #print_params(yaml_common_params)
+        #print_params(yaml_params)
+        yaml_params = update_params(yaml_common_params,yaml_params)
+        #print_params(yaml_params)
+
+        #2.load args params
+        args_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
+        #print_params(args_params)
+
+        #3.meger params args
+        if usb_port is None or usb_port == "": #meger yaml->args params
+            print("usb_port param null")
+            default_params = update_params(args_params, yaml_params)
+        else:
+            print("usb_port param not null value:", usb_port) #meger args->yaml params
+            default_params = update_params(yaml_params, args_params)
+        #print_params(default_params)
+
+        #4.load cmd params & meger params cmd->yaml
+        cmd_params = dict([a for a in [a.split(':=') for a in sys.argv] if len(a) == 2])
+        default_params = update_params(default_params,cmd_params)
+        #print_params(args_params)
+
+    except (FileNotFoundError, yaml.YAMLError) as e:
+        logger.error(f"Error loading YAML file: {e}")
+        return {}
+
+    #5.Skip conversion for specific parameters
+    SKIP_CONVERT = {'config_file_path', 'usb_port', 'serial_number', 'attach_component_container_name'}
+    return {
+        key: (value if key in SKIP_CONVERT else convert_value(value))
+        for key, value in default_params.items()
+    }
+
+
+def find_camera_name(params):
+    return find_param(params, 'camera_name', 'camera')
+
+def find_use_intra_process_comms(params):
+    return find_param(params, 'use_intra_process_comms', False)
+
+
+def generate_launch_description():
+    args = generate_launch_arguments()
+    def get_params(context, args):
+        return [load_parameters(context, args)]
+
+    def create_composable_node(camera_name, params, use_intra_process):
+        common_arguments = [{'use_intra_process_comms': use_intra_process}]
+        composable_node = ComposableNode(
+                namespace=camera_name,
+                name=camera_name,
+                package=default_package_name,
+                plugin='orbbec_camera::OBCameraNodeDriver',
+                parameters=params,
+                #extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
+                extra_arguments=common_arguments,
+            )
+        return composable_node
+
+
+    def create_orbbec_container(attach_component_container_name, attach_component_container_enable):
+        orbbec_container = Node(
+            name=attach_component_container_name,
+            package='rclcpp_components',
+            executable='component_container_mt',
+            output='screen',
+            condition=UnlessCondition(attach_component_container_enable)
+        )
+        return orbbec_container
+
+
+    def create_node_action(context, args):
+        params = get_params(context, args)
+        camera_name = find_camera_name(params)
+
+        use_intra_process = find_use_intra_process_comms(params)
+        #use_intra_process = LaunchConfiguration("use_intra_process_comms", default=False).perform(context)
+        print(f"camera_name: {camera_name}", f"use_intra_process: {use_intra_process}")
+
+        attach_enable_condition = LaunchConfiguration("attach_component_container_enable", default=False).perform(context)
+        attach_component_container_name = LaunchConfiguration("attach_component_container_name", default='orbbec_container').perform(context)
+        print(f"attach_enable_condition: {attach_enable_condition}", f"attach_component_container_name: {attach_component_container_name}")
+
+        ros_distro = os.environ.get("ROS_DISTRO", "humble")
+        if ros_distro == "foxy":
+            return [
+                Node(
+                    package=default_package_name,
+                    executable="orbbec_camera_node",
+                    name="ob_camera_node",
+                    namespace=camera_name,
+                    parameters=params,
+                    output="screen",
+                    #condition=UnlessCondition(attach_enable_condition)
+                    #prefix=['xterm -e gdb -ex run --args'],
+                ),
+            ]
+        else:
+            composable_node = create_composable_node(camera_name, params, use_intra_process)
+            orbbec_container= create_orbbec_container(attach_component_container_name, attach_enable_condition)
+            return [
+                orbbec_container,
+                LoadComposableNodes(
+                    target_container=attach_component_container_name,
+                    composable_node_descriptions=[composable_node]
+                ),
+            ]
+
+    return LaunchDescription(
+        args + [
+            OpaqueFunction(function=lambda context: create_node_action(context, args))
+        ]
+    )
\ No newline at end of file
diff --git a/orbbec_camera/launch/orbbec_multicamera.launch.py b/orbbec_camera/launch/orbbec_multicamera.launch.py
new file mode 100644
index 00000000..3018201d
--- /dev/null
+++ b/orbbec_camera/launch/orbbec_multicamera.launch.py
@@ -0,0 +1,86 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory('orbbec_camera')
+    launch_file_dir = os.path.join(package_dir, 'launch')
+
+    G330_0 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
+        ),
+        launch_arguments={
+            'camera_model': 'gemini330_series',
+            'attach_component_container_enable': 'true',
+            'camera_name': 'G330_0',
+            'usb_port': '2-1',
+            'device_num': '4',
+            # 'sync_mode': 'primary',
+        }.items()
+    )
+
+    G330_1 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
+        ),
+        launch_arguments={
+            'camera_model': 'gemini330_series',
+            'attach_component_container_enable': 'false',
+            'camera_name': 'G330_1',
+            'usb_port': '2-4',
+            'device_num': '4',
+            # 'sync_mode': 'secondary_synced',
+            # 'trigger_out_enabled': 'false',
+        }.items()
+    )
+
+    G330_2 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
+        ),
+        launch_arguments={
+            'camera_model': 'gemini330_series',
+            'attach_component_container_enable': 'true',
+            'camera_name': 'G330_2',
+            'usb_port': '2-7',
+            'device_num': '4',
+            # 'sync_mode': 'secondary_synced',
+            # 'trigger_out_enabled': 'false',
+        }.items()
+    )
+
+    G330_3 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
+        ),
+        launch_arguments={
+            'camera_model': 'gemini330_series',
+            'attach_component_container_enable': 'true',
+            'camera_name': 'G330_3',
+            'usb_port': '2-3',
+            'device_num': '4',
+            # 'sync_mode': 'secondary_synced',
+            # 'trigger_out_enabled': 'false',
+        }.items()
+    )
+
+    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
+
+    # Launch description
+    ld = LaunchDescription(
+        [
+            TimerAction(period=0.0, actions=[GroupAction([G330_1])]),
+            TimerAction(period=2.0, actions=[GroupAction([G330_2])]),
+            TimerAction(period=4.0, actions=[GroupAction([G330_3])]),
+            TimerAction(period=6.0, actions=[GroupAction([G330_0])]),
+            # The primary camera should be launched at last
+        ]
+    )
+
+    return ld
\ No newline at end of file
diff --git a/orbbec_camera/launch/utils_yaml.py b/orbbec_camera/launch/utils_yaml.py
new file mode 100644
index 00000000..cbd1a2d1
--- /dev/null
+++ b/orbbec_camera/launch/utils_yaml.py
@@ -0,0 +1,86 @@
+import os
+import yaml
+import logging
+from ament_index_python.packages import get_package_share_directory
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+
+def load_yaml(file_path):
+    try:
+        with open(file_path, 'r') as f:
+            return yaml.safe_load(f)
+    except FileNotFoundError:
+        logger.error(f"File {file_path} not found.")
+        return {}
+    except yaml.YAMLError as e:
+        logger.error(f"Error parsing YAML file {file_path}: {e}")
+        return {}
+
+
+def parse_yaml(data, prefix='', params=None):
+    if params is None:
+        params = {}
+    if isinstance(data, dict):
+        for key, value in data.items():
+            new_prefix = f'{key}.' if prefix else key + '.'
+            params = parse_yaml(value, prefix=new_prefix, params=params)
+    elif isinstance(data, list):
+        for index, item in enumerate(data):
+            params = parse_yaml(item, prefix=f'[{index}].', params=params)
+    else:
+        params[prefix[:-1]] = data
+        #print(f'{prefix}: {data}')
+    return params
+
+
+def load_and_parse_yaml(file_path):
+    data = load_yaml(file_path)
+    return parse_yaml(data) if data else {}
+
+
+def update_params(default_params, yaml_params):
+    default_params.update(yaml_params)
+    return default_params
+
+
+def find_param(params, key, default_value=None):
+    if isinstance(params, dict):
+        return params.get(key, default_value)
+    elif isinstance(params, list):
+        for param_dict in params:
+            if isinstance(param_dict, dict) and key in param_dict:
+                return param_dict[key]
+    return default_value
+
+
+def get_absolute_path(config_file_path, package_name):
+    if not os.path.isabs(config_file_path):
+        logger.info(f"not Absolute path: {config_file_path}")
+        return os.path.join(get_package_share_directory(package_name), 'config', config_file_path)
+    logger.info(f"Absolute path: {config_file_path}")
+    return config_file_path
+
+
+def convert_value(value):
+    if isinstance(value, str):
+        try:
+            return int(value)
+        except ValueError:
+            pass
+        try:
+            return float(value)
+        except ValueError:
+            pass
+        if value.lower() == 'true':
+            return True
+        elif value.lower() == 'false':
+            return False
+    return value
+
+def print_params(default_params):
+    print(f"\n----------------------------------------")
+    for key, value in default_params.items():
+        print(f"Key: {key}, Value: {value}")
+    print(f"----------------------------------------\n")
\ No newline at end of file