diff --git a/orbbec_camera/launch/gemini_intra_process_demo_launch.py b/orbbec_camera/launch/gemini_intra_process_demo_launch.py
index e205bf50..a1bb6796 100644
--- a/orbbec_camera/launch/gemini_intra_process_demo_launch.py
+++ b/orbbec_camera/launch/gemini_intra_process_demo_launch.py
@@ -52,18 +52,18 @@ def load_parameters(context, args):
 def generate_launch_description():
     args = [
         DeclareLaunchArgument('camera_name', default_value='camera'),
-        DeclareLaunchArgument('depth_registration', default_value='false'),
+        DeclareLaunchArgument('depth_registration', default_value='true'),
         DeclareLaunchArgument('serial_number', default_value=''),
         DeclareLaunchArgument('usb_port', default_value=''),
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
-        DeclareLaunchArgument('enable_point_cloud', default_value='true'),
-        DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
+        DeclareLaunchArgument('enable_point_cloud', default_value='false'),
+        DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
         DeclareLaunchArgument('connection_delay', default_value='10'),
-        DeclareLaunchArgument('color_width', default_value='0'),
-        DeclareLaunchArgument('color_height', default_value='0'),
-        DeclareLaunchArgument('color_fps', default_value='0'),
-        DeclareLaunchArgument('color_format', default_value='ANY'),
+        DeclareLaunchArgument('color_width', default_value='1280'),
+        DeclareLaunchArgument('color_height', default_value='800'),
+        DeclareLaunchArgument('color_fps', default_value='30'),
+        DeclareLaunchArgument('color_format', default_value='YUYV'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
@@ -72,10 +72,10 @@ def generate_launch_description():
         DeclareLaunchArgument('color_gain', default_value='-1'),
         DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
         DeclareLaunchArgument('color_white_balance', default_value='-1'),
-        DeclareLaunchArgument('depth_width', default_value='0'),
-        DeclareLaunchArgument('depth_height', default_value='0'),
-        DeclareLaunchArgument('depth_fps', default_value='0'),
-        DeclareLaunchArgument('depth_format', default_value='ANY'),
+        DeclareLaunchArgument('depth_width', default_value='1280'),
+        DeclareLaunchArgument('depth_height', default_value='800'),
+        DeclareLaunchArgument('depth_fps', default_value='30'),
+        DeclareLaunchArgument('depth_format', default_value='Y16'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
@@ -168,7 +168,7 @@ def generate_launch_description():
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
         DeclareLaunchArgument('topic_type', default_value='points'),
-        DeclareLaunchArgument('topic_name', default_value='/camera/depth/points'),
+        DeclareLaunchArgument('topic_name', default_value='/camera/depth_registered/points'),
         DeclareLaunchArgument('use_intra_process_comms', default_value='true'),
     ]
 
diff --git a/orbbec_camera/tools/frame_latency.cpp b/orbbec_camera/tools/frame_latency.cpp
index 1ce9456c..3ce86c93 100644
--- a/orbbec_camera/tools/frame_latency.cpp
+++ b/orbbec_camera/tools/frame_latency.cpp
@@ -33,6 +33,7 @@
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/image.hpp>
+#include <chrono>
 
 using namespace std::chrono_literals;
 #include "frame_latency.hpp"
@@ -50,11 +51,18 @@ template <typename MsgType>
 void FrameLatencyNode::createListener(const std::string& topic_name,
                                       const rmw_qos_profile_t qos_profile) {
   RCLCPP_INFO_STREAM(logger_, "createListener");
+  using namespace std::chrono_literals;
+  timer_ = this->create_wall_timer(1s, [this, topic_name=topic_name]() {
+    // print fps
+    RCLCPP_INFO_STREAM(logger_, "topic: " << topic_name << " fps: " << frame_count_ / 1.0);
+    frame_count_ = 0;
+  });
   sub_ = this->create_subscription<MsgType>(
       topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile), qos_profile),
       [&, this](const std::shared_ptr<MsgType> msg) {
         rclcpp::Time curr_time = this->get_clock()->now();
         auto latency = (curr_time - msg->header.stamp).seconds();
+        frame_count_++;
         RCLCPP_INFO_STREAM_THROTTLE(logger_, *this->get_clock(), 1000.0,
                                     "Got msg with "
                                         << msg->header.frame_id << " frame id at address 0x"
diff --git a/orbbec_camera/tools/frame_latency.hpp b/orbbec_camera/tools/frame_latency.hpp
index bf43a295..d576f52a 100644
--- a/orbbec_camera/tools/frame_latency.hpp
+++ b/orbbec_camera/tools/frame_latency.hpp
@@ -49,5 +49,7 @@ class FrameLatencyNode : public rclcpp::Node {
   std::shared_ptr<void> sub_ = nullptr;
 
   rclcpp::Logger logger_;
+  rclcpp::TimerBase::SharedPtr timer_;
+  size_t frame_count_ = 0;
 };
 }  // namespace orbbec_camera