diff --git a/orbbec_camera/SDK/arm64/lib/OrbbecSDKConfig-release.cmake b/orbbec_camera/SDK/arm64/lib/OrbbecSDKConfig-release.cmake
index c3bd1654..1e7eecfb 100644
--- a/orbbec_camera/SDK/arm64/lib/OrbbecSDKConfig-release.cmake
+++ b/orbbec_camera/SDK/arm64/lib/OrbbecSDKConfig-release.cmake
@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.2"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.3"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.2" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.3" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/orbbec_camera/SDK/arm64/lib/OrbbecSDKVersion.cmake b/orbbec_camera/SDK/arm64/lib/OrbbecSDKVersion.cmake
index 515957a9..b8c23359 100644
--- a/orbbec_camera/SDK/arm64/lib/OrbbecSDKVersion.cmake
+++ b/orbbec_camera/SDK/arm64/lib/OrbbecSDKVersion.cmake
@@ -9,19 +9,19 @@
 # The variable CVF_VERSION must be set before calling configure_file().
 
 
-set(PACKAGE_VERSION "2.10.2")
+set(PACKAGE_VERSION "2.10.3")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.10.2" MATCHES "^([0-9]+)\\.")
+  if("2.10.3" MATCHES "^([0-9]+)\\.")
     set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
     if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
       string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
     endif()
   else()
-    set(CVF_VERSION_MAJOR "2.10.2")
+    set(CVF_VERSION_MAJOR "2.10.3")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)
diff --git a/orbbec_camera/SDK/arm64/lib/extensions/filters/libFilterProcessor.so b/orbbec_camera/SDK/arm64/lib/extensions/filters/libFilterProcessor.so
index 072d0d21..a8b64642 100644
Binary files a/orbbec_camera/SDK/arm64/lib/extensions/filters/libFilterProcessor.so and b/orbbec_camera/SDK/arm64/lib/extensions/filters/libFilterProcessor.so differ
diff --git a/orbbec_camera/SDK/arm64/lib/extensions/firmwareupdater/libfirmwareupdater.so b/orbbec_camera/SDK/arm64/lib/extensions/firmwareupdater/libfirmwareupdater.so
index 434e72f4..7c141f41 100644
Binary files a/orbbec_camera/SDK/arm64/lib/extensions/firmwareupdater/libfirmwareupdater.so and b/orbbec_camera/SDK/arm64/lib/extensions/firmwareupdater/libfirmwareupdater.so differ
diff --git a/orbbec_camera/SDK/arm64/lib/extensions/frameprocessor/libob_frame_processor.so b/orbbec_camera/SDK/arm64/lib/extensions/frameprocessor/libob_frame_processor.so
index c155c3c9..0d41df77 100644
Binary files a/orbbec_camera/SDK/arm64/lib/extensions/frameprocessor/libob_frame_processor.so and b/orbbec_camera/SDK/arm64/lib/extensions/frameprocessor/libob_frame_processor.so differ
diff --git a/orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2 b/orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2
index 6687316d..9e58fe5c 120000
--- a/orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2
+++ b/orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2
@@ -1 +1 @@
-libOrbbecSDK.so.2.10.2
\ No newline at end of file
+libOrbbecSDK.so.2.10.3
\ No newline at end of file
diff --git a/orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2.10.2 b/orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2.10.3
similarity index 68%
rename from orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2.10.2
rename to orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2.10.3
index 1eb61970..ee235429 100644
Binary files a/orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2.10.2 and b/orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2.10.3 differ
diff --git a/orbbec_camera/SDK/x64/lib/OrbbecSDKConfig-release.cmake b/orbbec_camera/SDK/x64/lib/OrbbecSDKConfig-release.cmake
index c3bd1654..1e7eecfb 100644
--- a/orbbec_camera/SDK/x64/lib/OrbbecSDKConfig-release.cmake
+++ b/orbbec_camera/SDK/x64/lib/OrbbecSDKConfig-release.cmake
@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.2"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.3"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.2" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.3" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/orbbec_camera/SDK/x64/lib/OrbbecSDKVersion.cmake b/orbbec_camera/SDK/x64/lib/OrbbecSDKVersion.cmake
index 515957a9..b8c23359 100644
--- a/orbbec_camera/SDK/x64/lib/OrbbecSDKVersion.cmake
+++ b/orbbec_camera/SDK/x64/lib/OrbbecSDKVersion.cmake
@@ -9,19 +9,19 @@
 # The variable CVF_VERSION must be set before calling configure_file().
 
 
-set(PACKAGE_VERSION "2.10.2")
+set(PACKAGE_VERSION "2.10.3")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.10.2" MATCHES "^([0-9]+)\\.")
+  if("2.10.3" MATCHES "^([0-9]+)\\.")
     set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
     if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
       string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
     endif()
   else()
-    set(CVF_VERSION_MAJOR "2.10.2")
+    set(CVF_VERSION_MAJOR "2.10.3")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)
diff --git a/orbbec_camera/SDK/x64/lib/extensions/filters/libFilterProcessor.so b/orbbec_camera/SDK/x64/lib/extensions/filters/libFilterProcessor.so
index cf1d5f96..89abe45d 100644
Binary files a/orbbec_camera/SDK/x64/lib/extensions/filters/libFilterProcessor.so and b/orbbec_camera/SDK/x64/lib/extensions/filters/libFilterProcessor.so differ
diff --git a/orbbec_camera/SDK/x64/lib/extensions/firmwareupdater/libfirmwareupdater.so b/orbbec_camera/SDK/x64/lib/extensions/firmwareupdater/libfirmwareupdater.so
index 14f73eb6..2ac3f108 100644
Binary files a/orbbec_camera/SDK/x64/lib/extensions/firmwareupdater/libfirmwareupdater.so and b/orbbec_camera/SDK/x64/lib/extensions/firmwareupdater/libfirmwareupdater.so differ
diff --git a/orbbec_camera/SDK/x64/lib/extensions/frameprocessor/libob_frame_processor.so b/orbbec_camera/SDK/x64/lib/extensions/frameprocessor/libob_frame_processor.so
index b3e5608e..5e095fc6 100644
Binary files a/orbbec_camera/SDK/x64/lib/extensions/frameprocessor/libob_frame_processor.so and b/orbbec_camera/SDK/x64/lib/extensions/frameprocessor/libob_frame_processor.so differ
diff --git a/orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2 b/orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2
index 6687316d..9e58fe5c 120000
--- a/orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2
+++ b/orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2
@@ -1 +1 @@
-libOrbbecSDK.so.2.10.2
\ No newline at end of file
+libOrbbecSDK.so.2.10.3
\ No newline at end of file
diff --git a/orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2.10.2 b/orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2.10.3
similarity index 68%
rename from orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2.10.2
rename to orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2.10.3
index ba8936d3..b34883cb 100644
Binary files a/orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2.10.2 and b/orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2.10.3 differ
diff --git a/orbbec_camera/examples/Gemini_435Le_example_node/camera_example_node.cpp b/orbbec_camera/examples/Gemini_435Le_example_node/camera_example_node.cpp
index 0986ae40..874252d7 100644
--- a/orbbec_camera/examples/Gemini_435Le_example_node/camera_example_node.cpp
+++ b/orbbec_camera/examples/Gemini_435Le_example_node/camera_example_node.cpp
@@ -193,14 +193,12 @@ class CameraExampleNode : public rclcpp::Node {
   void deviceStatusCallback(const orbbec_camera_msgs::msg::DeviceStatus::SharedPtr msg) {
     RCLCPP_INFO(this->get_logger(), "-------orbbec camera real-time status-------");
     RCLCPP_INFO(this->get_logger(), "--------------------------------------------");
-    RCLCPP_INFO(this->get_logger(), "Color Frame Rate: Cur: %.2f, Avg: %.2f",
-                msg->color_frame_rate_cur, msg->color_frame_rate_avg);
-    RCLCPP_INFO(this->get_logger(), "Depth Frame Rate: Cur: %.2f, Avg: %.2f",
-                msg->depth_frame_rate_cur, msg->depth_frame_rate_avg);
-    RCLCPP_INFO(this->get_logger(), "Color Delay (ms): Cur: %.2f, Avg: %.2f",
-                msg->color_delay_ms_cur, msg->color_delay_ms_avg);
-    RCLCPP_INFO(this->get_logger(), "Depth Delay (ms): Cur: %.2f, Avg: %.2f",
-                msg->depth_delay_ms_cur, msg->depth_delay_ms_avg);
+    for (const auto &stream : msg->streams) {
+      RCLCPP_INFO(this->get_logger(),
+                  "Topic: %s, Subscribers: %s, Rate: %.2f Hz, Avg Delay: %.2f ms",
+                  stream.topic_name.c_str(), stream.has_subscribers ? "true" : "false",
+                  stream.publish_rate_hz, stream.delay_ms_avg);
+    }
 
     RCLCPP_INFO(this->get_logger(), "Device Online: %s", msg->device_online ? "True" : "False");
     RCLCPP_INFO(this->get_logger(), "Connection Type: %s", msg->connection_type.c_str());
diff --git a/orbbec_camera/include/orbbec_camera/fps_delay_status.hpp b/orbbec_camera/include/orbbec_camera/fps_delay_status.hpp
deleted file mode 100644
index ecb86a92..00000000
--- a/orbbec_camera/include/orbbec_camera/fps_delay_status.hpp
+++ /dev/null
@@ -1,139 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2023 Orbbec 3D Technology, Inc
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *******************************************************************************/
-
-#pragma once
-
-#include <rclcpp/rclcpp.hpp>
-#include "orbbec_camera_msgs/msg/device_status.hpp"
-#include <chrono>
-#include <functional>
-#include <limits>
-#include <mutex>
-namespace orbbec_camera {
-class FpsDelayStatus {
- public:
-  explicit FpsDelayStatus(rclcpp::Logger logger) : log_level_(LogLevel::INFO), logger_(logger) {}
-
-  void tick(u_int64_t stream_timestamp) {
-    std::lock_guard<std::mutex> lock(mutex_);
-
-    double dt = (stream_timestamp - last_stream_timestamp_) / 1000000.0;
-    double fps = (dt > 0) ? (1.0 / dt) : 0.0;
-
-    // Convert now to milliseconds since steady_clock epoch
-    auto now2 = std::chrono::system_clock::now();
-    uint64_t ms_since_epoch =
-        std::chrono::duration_cast<std::chrono::milliseconds>(now2.time_since_epoch()).count();
-    double delay_ms =
-        static_cast<double>(ms_since_epoch) - static_cast<double>(stream_timestamp / 1000.0);
-
-    frame_count_++;
-    fps_sum_ += fps;
-    delay_sum_ += delay_ms;
-
-    last_fps_ = fps;
-    last_delay_ms_ = delay_ms;
-    last_stream_timestamp_ = stream_timestamp;
-
-    if (fps_max_ <= 0) fps_max_ = fps;
-    if (fps_min_ <= 0) fps_min_ = fps;
-    fps_max_ = std::max(fps_max_, fps);
-    fps_min_ = std::min(fps_min_, fps);
-    if (delay_max_ <= 0) delay_max_ = delay_ms;
-    if (delay_min_ <= 0) delay_min_ = delay_ms;
-    delay_max_ = std::max(delay_max_, delay_ms);
-    delay_min_ = std::min(delay_min_, delay_ms);
-  }
-
-  void fillColorStatus(orbbec_camera_msgs::msg::DeviceStatus &msg) {
-    fillStatus(msg.color_frame_rate_cur, msg.color_frame_rate_avg, msg.color_frame_rate_min,
-               msg.color_frame_rate_max, msg.color_delay_ms_cur, msg.color_delay_ms_avg,
-               msg.color_delay_ms_min, msg.color_delay_ms_max);
-  }
-
-  void fillLeftColorStatus(orbbec_camera_msgs::msg::DeviceStatus &msg) {
-    fillStatus(msg.left_color_frame_rate_cur, msg.left_color_frame_rate_avg,
-               msg.left_color_frame_rate_min, msg.left_color_frame_rate_max,
-               msg.left_color_delay_ms_cur, msg.left_color_delay_ms_avg,
-               msg.left_color_delay_ms_min, msg.left_color_delay_ms_max);
-  }
-
-  void fillRightColorStatus(orbbec_camera_msgs::msg::DeviceStatus &msg) {
-    fillStatus(msg.right_color_frame_rate_cur, msg.right_color_frame_rate_avg,
-               msg.right_color_frame_rate_min, msg.right_color_frame_rate_max,
-               msg.right_color_delay_ms_cur, msg.right_color_delay_ms_avg,
-               msg.right_color_delay_ms_min, msg.right_color_delay_ms_max);
-  }
-
-  void fillDepthStatus(orbbec_camera_msgs::msg::DeviceStatus &msg) {
-    fillStatus(msg.depth_frame_rate_cur, msg.depth_frame_rate_avg, msg.depth_frame_rate_min,
-               msg.depth_frame_rate_max, msg.depth_delay_ms_cur, msg.depth_delay_ms_avg,
-               msg.depth_delay_ms_min, msg.depth_delay_ms_max);
-  }
-
-  void fillLeftIrStatus(orbbec_camera_msgs::msg::DeviceStatus &msg) {
-    fillStatus(msg.left_ir_frame_rate_cur, msg.left_ir_frame_rate_avg, msg.left_ir_frame_rate_min,
-               msg.left_ir_frame_rate_max, msg.left_ir_delay_ms_cur, msg.left_ir_delay_ms_avg,
-               msg.left_ir_delay_ms_min, msg.left_ir_delay_ms_max);
-  }
-
-  void fillRightIrStatus(orbbec_camera_msgs::msg::DeviceStatus &msg) {
-    fillStatus(msg.right_ir_frame_rate_cur, msg.right_ir_frame_rate_avg,
-               msg.right_ir_frame_rate_min, msg.right_ir_frame_rate_max, msg.right_ir_delay_ms_cur,
-               msg.right_ir_delay_ms_avg, msg.right_ir_delay_ms_min, msg.right_ir_delay_ms_max);
-  }
-
- private:
-  void fillStatus(double &frame_rate_cur, double &frame_rate_avg, double &frame_rate_min,
-                  double &frame_rate_max, double &delay_ms_cur, double &delay_ms_avg,
-                  double &delay_ms_min, double &delay_ms_max) {
-    std::lock_guard<std::mutex> lock(mutex_);
-    frame_rate_cur = last_fps_;
-    frame_rate_avg = frame_count_ > 0 ? fps_sum_ / frame_count_ : 0;
-    frame_rate_min = frame_count_ > 0 ? fps_min_ : 0;
-    frame_rate_max = frame_count_ > 0 ? fps_max_ : 0;
-
-    delay_ms_cur = last_delay_ms_;
-    delay_ms_avg = frame_count_ > 0 ? delay_sum_ / frame_count_ : 0;
-    delay_ms_min = frame_count_ > 0 ? delay_min_ : 0;
-    delay_ms_max = frame_count_ > 0 ? delay_max_ : 0;
-
-    last_delay_ms_ = 0.0;
-    last_fps_ = 0.0;
-    frame_count_ = 0;
-    fps_sum_ = delay_sum_ = 0.0;
-    fps_max_ = delay_max_ = 0.0;
-    fps_min_ = delay_min_ = 0.0;
-  }
-
-  mutable std::mutex mutex_;
-  u_int64_t last_stream_timestamp_{0};
-  double last_delay_ms_{0.0};
-  double last_fps_{0.0};
-
-  int frame_count_{0};
-  double fps_sum_{0.0};
-  double delay_sum_{0.0};
-  double fps_max_{std::numeric_limits<double>::lowest()};
-  double fps_min_{std::numeric_limits<double>::max()};
-  double delay_max_{std::numeric_limits<double>::lowest()};
-  double delay_min_{std::numeric_limits<double>::max()};
-
-  LogLevel log_level_;
-  rclcpp::Logger logger_;
-};
-
-}  // namespace orbbec_camera
diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index abe66fde..2f1be9f3 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -26,6 +26,7 @@
 #include <queue>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
+#include <stdexcept>
 #include <unordered_map>
 #include <unordered_set>
 #include <utility>
@@ -50,6 +51,7 @@
 #include "libobsensor/ObSensor.hpp"
 
 #include "orbbec_camera_msgs/msg/device_info.hpp"
+#include "orbbec_camera_msgs/msg/device_status.hpp"
 #include "orbbec_camera_msgs/msg/depth_filter_state.hpp"
 #include "orbbec_camera_msgs/msg/depth_filters_status.hpp"
 #include "orbbec_camera_msgs/srv/get_device_config.hpp"
@@ -76,7 +78,7 @@
 #include "orbbec_camera/d2c_viewer.h"
 #include "orbbec_camera/image_publisher.h"
 #include "orbbec_camera/fps_counter.hpp"
-#include "orbbec_camera/fps_delay_status.hpp"
+#include "orbbec_camera/stream_status.hpp"
 #include "orbbec_camera/timestamp_csv_logger.h"
 #include "jpeg_decoder.h"
 #include <std_msgs/msg/header.hpp>
@@ -136,6 +138,11 @@
 #define DEVICE_PATH "/dev/camsync"
 
 namespace orbbec_camera {
+class StreamConfigurationError : public std::runtime_error {
+ public:
+  explicit StreamConfigurationError(const std::string& message) : std::runtime_error(message) {}
+};
+
 using GetDeviceConfig = orbbec_camera_msgs::srv::GetDeviceConfig;
 using GetActionConfig = orbbec_camera_msgs::srv::GetActionConfig;
 using GetDeviceInfo = orbbec_camera_msgs::srv::GetDeviceInfo;
@@ -235,17 +242,7 @@ class OBCameraNode {
     return (color_info_manager_ && color_info_manager_->isCalibrated() && ir_info_manager_ &&
             ir_info_manager_->isCalibrated());
   }
-  void getColorStatus(orbbec_camera_msgs::msg::DeviceStatus& status_msg) {
-    fps_delay_status_color_->fillColorStatus(status_msg);
-    fps_delay_status_left_color_->fillLeftColorStatus(status_msg);
-    fps_delay_status_right_color_->fillRightColorStatus(status_msg);
-  }
-
-  void getDepthStatus(orbbec_camera_msgs::msg::DeviceStatus& status_msg) {
-    fps_delay_status_depth_->fillDepthStatus(status_msg);
-    fps_delay_status_left_ir_->fillLeftIrStatus(status_msg);
-    fps_delay_status_right_ir_->fillRightIrStatus(status_msg);
-  }
+  void fillStreamStatus(orbbec_camera_msgs::msg::DeviceStatus& status_msg);
 
   bool checkUserCalibrationReady() {
     static bool first_check = true;
@@ -363,6 +360,14 @@ class OBCameraNode {
 
   void setupPublishers();
 
+  void registerStreamStatus(const std::string& topic_name,
+                            StreamStatusTracker::SubscriberCountFn subscriber_count);
+  void removeStreamStatus(const std::string& topic_name);
+  void recordStreamStatus(const std::string& topic_name,
+                          const builtin_interfaces::msg::Time& stamp);
+  std::string resolveStreamStatusTopic(const std::string& topic_name) const;
+  std::string compressedStreamStatusTopic(const stream_index_pair& stream_index) const;
+
   void syncSoftwareAlignment();
 
   void publishDepthFiltersStatus();
@@ -676,6 +681,7 @@ class OBCameraNode {
   static bool isGemini435LePID(uint32_t pid);
   static bool isPublishMetaData(uint32_t pid);
   static bool isDabaiASeriesForHwD2C(uint32_t pid);
+  static bool isLingBotSupportedPID(uint32_t pid);
 
   static bool isDepthWorkModeDevices(uint32_t pid);
   static bool isnotLaserDevices(uint32_t pid);
@@ -1199,12 +1205,8 @@ class OBCameraNode {
   std::unique_ptr<FpsCounter> fps_counter_left_ir_{nullptr};
   std::unique_ptr<FpsCounter> fps_counter_right_ir_{nullptr};
 
-  std::unique_ptr<FpsDelayStatus> fps_delay_status_color_{nullptr};
-  std::unique_ptr<FpsDelayStatus> fps_delay_status_left_color_{nullptr};
-  std::unique_ptr<FpsDelayStatus> fps_delay_status_right_color_{nullptr};
-  std::unique_ptr<FpsDelayStatus> fps_delay_status_depth_{nullptr};
-  std::unique_ptr<FpsDelayStatus> fps_delay_status_left_ir_{nullptr};
-  std::unique_ptr<FpsDelayStatus> fps_delay_status_right_ir_{nullptr};
+  std::map<std::string, std::shared_ptr<StreamStatusTracker>> stream_status_trackers_;
+  mutable std::mutex stream_status_mutex_;
 
   std::string intra_camera_sync_reference_ = "";
   std::string ae_reference_stream_;
diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h b/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
index a132d177..6b594f13 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
@@ -114,6 +114,7 @@ class OBCameraNodeDriver : public rclcpp::Node {
   std::atomic_bool is_alive_{false};
   std::atomic_bool device_connected_{false};
   std::atomic_bool device_connecting_{false};
+  std::atomic_bool stream_configuration_error_{false};
   std::string serial_number_;
   std::string device_unique_id_;
   std::string usb_port_;
@@ -157,7 +158,6 @@ class OBCameraNodeDriver : public rclcpp::Node {
   std::atomic<bool> is_reupdating_{false};  // Flag to track if we're in reupdate process
   std::atomic<bool> delay_stream_start_after_reconnect_{false};
   rclcpp::TimerBase::SharedPtr device_status_timer_ = nullptr;
-  int device_status_interval_hz = 2;  // 2Hz
   rclcpp::Publisher<orbbec_camera_msgs::msg::DeviceStatus>::SharedPtr device_status_pub_ = nullptr;
   std::string node_name_;
   bool force_ip_enable_{false};
diff --git a/orbbec_camera/include/orbbec_camera/stream_status.hpp b/orbbec_camera/include/orbbec_camera/stream_status.hpp
new file mode 100644
index 00000000..7580c501
--- /dev/null
+++ b/orbbec_camera/include/orbbec_camera/stream_status.hpp
@@ -0,0 +1,80 @@
+/*******************************************************************************
+ * Copyright (c) 2023 Orbbec 3D Technology, Inc
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *******************************************************************************/
+
+#pragma once
+
+#include <builtin_interfaces/msg/time.hpp>
+
+#include <chrono>
+#include <cstddef>
+#include <cstdint>
+#include <functional>
+#include <mutex>
+#include <string>
+#include <utility>
+
+#include "orbbec_camera_msgs/msg/stream_status.hpp"
+
+namespace orbbec_camera {
+
+class StreamStatusTracker {
+ public:
+  using SubscriberCountFn = std::function<size_t()>;
+
+  StreamStatusTracker(std::string topic_name, SubscriberCountFn subscriber_count)
+      : topic_name_(std::move(topic_name)),
+        subscriber_count_(std::move(subscriber_count)),
+        window_start_(std::chrono::steady_clock::now()) {}
+
+  void record(const builtin_interfaces::msg::Time& stamp) {
+    const auto now = std::chrono::system_clock::now();
+    const double now_ms = std::chrono::duration<double, std::milli>(now.time_since_epoch()).count();
+    const double stamp_ms =
+        static_cast<double>(stamp.sec) * 1000.0 + static_cast<double>(stamp.nanosec) / 1000000.0;
+
+    std::lock_guard<std::mutex> lock(mutex_);
+    published_count_++;
+    delay_sum_ms_ += now_ms - stamp_ms;
+  }
+
+  void fill(orbbec_camera_msgs::msg::StreamStatus& status) {
+    const bool has_subscribers = subscriber_count_ && subscriber_count_() > 0;
+    const auto now = std::chrono::steady_clock::now();
+
+    std::lock_guard<std::mutex> lock(mutex_);
+    const double window_seconds = std::chrono::duration<double>(now - window_start_).count();
+    status.topic_name = topic_name_;
+    status.has_subscribers = has_subscribers;
+    status.publish_rate_hz =
+        window_seconds > 0.0 ? static_cast<double>(published_count_) / window_seconds : 0.0;
+    status.delay_ms_avg =
+        published_count_ > 0 ? delay_sum_ms_ / static_cast<double>(published_count_) : 0.0;
+
+    published_count_ = 0;
+    delay_sum_ms_ = 0.0;
+    window_start_ = now;
+  }
+
+ private:
+  std::string topic_name_;
+  SubscriberCountFn subscriber_count_;
+  std::chrono::steady_clock::time_point window_start_;
+  std::mutex mutex_;
+  uint32_t published_count_{0};
+  double delay_sum_ms_{0.0};
+};
+
+}  // namespace orbbec_camera
diff --git a/orbbec_camera/launch/dabai_a.launch.py b/orbbec_camera/launch/dabai_a.launch.py
index c105ddd5..b56d603e 100644
--- a/orbbec_camera/launch/dabai_a.launch.py
+++ b/orbbec_camera/launch/dabai_a.launch.py
@@ -43,7 +43,7 @@ def load_parameters(context, args):
         yaml_params = load_yaml(config_file_path)
         default_params = merge_params(default_params, yaml_params)
     skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
-                    'depth_colorizer_mode'}
+                    'enhanced_depth_model_path', 'depth_colorizer_mode'}
 
     result = {}
     for key, value in default_params.items():
@@ -148,7 +148,6 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_exposure', default_value='-1'),
         DeclareLaunchArgument('ir_gain', default_value='-1'),
         DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
-        DeclareLaunchArgument('ir_brightness', default_value='-1'),
         DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
         DeclareLaunchArgument('enable_accel', default_value='false'),
         DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
@@ -194,6 +193,9 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
         DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
         DeclareLaunchArgument('enable_false_positive_filter', default_value='false'),
+        DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
+        DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
+        DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'),
         DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
         DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
         DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -214,6 +216,7 @@ def generate_launch_description():
         DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
+        DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
         DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
         DeclareLaunchArgument('depth_precision', default_value=''),
         DeclareLaunchArgument('device_preset', default_value='Standard'),
diff --git a/orbbec_camera/launch/dabai_al.launch.py b/orbbec_camera/launch/dabai_al.launch.py
index 6dc42693..5eab9010 100644
--- a/orbbec_camera/launch/dabai_al.launch.py
+++ b/orbbec_camera/launch/dabai_al.launch.py
@@ -43,7 +43,7 @@ def load_parameters(context, args):
         yaml_params = load_yaml(config_file_path)
         default_params = merge_params(default_params, yaml_params)
     skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
-                    'depth_colorizer_mode'}
+                    'enhanced_depth_model_path', 'depth_colorizer_mode'}
 
     result = {}
     for key, value in default_params.items():
@@ -148,7 +148,6 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_exposure', default_value='-1'),
         DeclareLaunchArgument('ir_gain', default_value='-1'),
         DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
-        DeclareLaunchArgument('ir_brightness', default_value='-1'),
         DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
         DeclareLaunchArgument('enable_accel', default_value='false'),
         DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
@@ -194,6 +193,9 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
         DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
         DeclareLaunchArgument('enable_false_positive_filter', default_value='false'),
+        DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
+        DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
+        DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'),
         DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
         DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
         DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -214,6 +216,7 @@ def generate_launch_description():
         DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
+        DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
         DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
         DeclareLaunchArgument('enable_laser', default_value='true'),
         DeclareLaunchArgument('depth_precision', default_value=''),
diff --git a/orbbec_camera/launch/gemini345.launch.py b/orbbec_camera/launch/gemini345.launch.py
index 197fd52b..c0149aec 100644
--- a/orbbec_camera/launch/gemini345.launch.py
+++ b/orbbec_camera/launch/gemini345.launch.py
@@ -43,7 +43,7 @@ def load_parameters(context, args):
         yaml_params = load_yaml(config_file_path)
         default_params = merge_params(default_params, yaml_params)
     skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
-                    'depth_colorizer_mode'}
+                    'enhanced_depth_model_path', 'depth_colorizer_mode'}
 
     result = {}
     for key, value in default_params.items():
@@ -147,7 +147,6 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_exposure', default_value='-1'),
         DeclareLaunchArgument('ir_gain', default_value='-1'),
         DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
-        DeclareLaunchArgument('ir_brightness', default_value='-1'),
         DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
         DeclareLaunchArgument('enable_accel', default_value='false'),
         DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
@@ -193,6 +192,9 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
         DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
         DeclareLaunchArgument('enable_false_positive_filter', default_value='true'),
+        DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
+        DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
+        DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'),
         DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
         DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
         DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -213,6 +215,7 @@ def generate_launch_description():
         DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
+        DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
         DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
         DeclareLaunchArgument('depth_precision', default_value=''),
         DeclareLaunchArgument('device_preset', default_value=''),
diff --git a/orbbec_camera/launch/gemini345_lg.launch.py b/orbbec_camera/launch/gemini345_lg.launch.py
index cf22d547..1a84e50d 100644
--- a/orbbec_camera/launch/gemini345_lg.launch.py
+++ b/orbbec_camera/launch/gemini345_lg.launch.py
@@ -43,7 +43,7 @@ def load_parameters(context, args):
         yaml_params = load_yaml(config_file_path)
         default_params = merge_params(default_params, yaml_params)
     skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
-                    'depth_colorizer_mode'}
+                    'enhanced_depth_model_path', 'depth_colorizer_mode'}
 
     result = {}
     for key, value in default_params.items():
@@ -148,7 +148,6 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_exposure', default_value='-1'),
         DeclareLaunchArgument('ir_gain', default_value='-1'),
         DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
-        DeclareLaunchArgument('ir_brightness', default_value='-1'),
         DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
         DeclareLaunchArgument('enable_accel', default_value='false'),
         DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
@@ -194,6 +193,9 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
         DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
         DeclareLaunchArgument('enable_false_positive_filter', default_value='true'),
+        DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
+        DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
+        DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'),
         DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
         DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
         DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -214,6 +216,7 @@ def generate_launch_description():
         DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
+        DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
         DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
         DeclareLaunchArgument('enable_laser', default_value='true'),
         DeclareLaunchArgument('depth_precision', default_value=''),
diff --git a/orbbec_camera/launch/gemini435_le.launch.py b/orbbec_camera/launch/gemini435_le.launch.py
index 42b757c5..af71f294 100644
--- a/orbbec_camera/launch/gemini435_le.launch.py
+++ b/orbbec_camera/launch/gemini435_le.launch.py
@@ -171,7 +171,6 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_exposure', default_value='-1'),
         DeclareLaunchArgument('ir_gain', default_value='-1'),
         DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
-        DeclareLaunchArgument('ir_brightness', default_value='-1'),
         DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
         DeclareLaunchArgument('enable_accel', default_value='false'),
         DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
diff --git a/orbbec_camera/launch/gemini_301_series.launch.py b/orbbec_camera/launch/gemini_301_series.launch.py
index 93d77a94..46e045b0 100644
--- a/orbbec_camera/launch/gemini_301_series.launch.py
+++ b/orbbec_camera/launch/gemini_301_series.launch.py
@@ -130,7 +130,6 @@ def generate_launch_description():
         DeclareLaunchArgument('right_color_qos_history', default_value='default'),
         DeclareLaunchArgument('right_color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
-        DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
         DeclareLaunchArgument('color_flip', default_value='false'),
         DeclareLaunchArgument('color_mirror', default_value='false'),
@@ -138,11 +137,8 @@ def generate_launch_description():
         DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
         DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
         DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
-        DeclareLaunchArgument('color_exposure', default_value='-1'),
-        DeclareLaunchArgument('color_gain', default_value='-1'),
         DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
         DeclareLaunchArgument('color_white_balance', default_value='-1'),
-        DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
         DeclareLaunchArgument('color_brightness', default_value='-1'),
         DeclareLaunchArgument('color_sharpness', default_value='-1'),
         DeclareLaunchArgument('color_gamma', default_value='-1'),
@@ -207,12 +203,13 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_mirror', default_value='false'),
         DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
         DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
-        # Gemini 301 color, depth, and IR streams share one auto-exposure switch.
-        DeclareLaunchArgument('enable_auto_exposure', default_value='true'),
+        # Gemini 301 color/depth/IR share these AE, exposure and gain controls.
+        # Use only these entries in YAML too; color exposure/max exposure values
+        # must be multiplied by 100 when migrating. Existing IR units are unchanged.
+        DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
         DeclareLaunchArgument('ir_exposure', default_value='-1'),
         DeclareLaunchArgument('ir_gain', default_value='-1'),
         DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
-        DeclareLaunchArgument('ir_brightness', default_value='-1'),
         DeclareLaunchArgument('publish_tf', default_value='true'),
         DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
         DeclareLaunchArgument('ir_info_url', default_value=''),
diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py
index 5b80cd0e..f98091af 100644
--- a/orbbec_camera/launch/gemini_330_series.launch.py
+++ b/orbbec_camera/launch/gemini_330_series.launch.py
@@ -192,7 +192,6 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_exposure', default_value='-1'),
         DeclareLaunchArgument('ir_gain', default_value='-1'),
         DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
-        DeclareLaunchArgument('ir_brightness', default_value='-1'),
         DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
         DeclareLaunchArgument('enable_accel', default_value='false'),
         DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
diff --git a/orbbec_camera/launch/gemini_330_series_low_cpu.launch.py b/orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
index 4624d300..09dcb83c 100644
--- a/orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+++ b/orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
@@ -190,7 +190,6 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_exposure', default_value='-1'),
         DeclareLaunchArgument('ir_gain', default_value='-1'),
         DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
-        DeclareLaunchArgument('ir_brightness', default_value='-1'),
         DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
         DeclareLaunchArgument('enable_accel', default_value='false'),
         DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index 14d588ce..b7faff7f 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -650,7 +650,7 @@ void OBCameraNode::publishDepthFiltersStatus() {
   if (disp_outliers_filter_supported) {
     append_unique_filter_name("DispOutliersFilter");
   }
-  if (isGemini330SeriesPID(pid_)) {
+  if (isLingBotSupportedPID(pid_)) {
     append_unique_filter_name("EnhancedDepthFilter");
   }
 
@@ -783,13 +783,6 @@ OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> devic
   fps_counter_depth_->setLogLevel(log_level);
   fps_counter_left_ir_->setLogLevel(log_level);
   fps_counter_right_ir_->setLogLevel(log_level);
-
-  fps_delay_status_color_ = std::make_unique<FpsDelayStatus>(logger_);
-  fps_delay_status_left_color_ = std::make_unique<FpsDelayStatus>(logger_);
-  fps_delay_status_right_color_ = std::make_unique<FpsDelayStatus>(logger_);
-  fps_delay_status_depth_ = std::make_unique<FpsDelayStatus>(logger_);
-  fps_delay_status_left_ir_ = std::make_unique<FpsDelayStatus>(logger_);
-  fps_delay_status_right_ir_ = std::make_unique<FpsDelayStatus>(logger_);
 }
 
 template <class T>
@@ -1011,21 +1004,24 @@ void OBCameraNode::setupDevices() {
     std::string token;
     std::vector<int> values;
     values.reserve(4);
-    while (std::getline(iss, token, ',')) {
-      values.push_back(std::stoi(token));
+    try {
+      while (std::getline(iss, token, ',')) {
+        values.push_back(std::stoi(token));
+      }
+    } catch (const std::exception &e) {
+      throw StreamConfigurationError("Invalid preset_resolution_config '" +
+                                     preset_resolution_config_ + "': " + e.what());
     }
 
-    if (values.size() >= 4) {
-      presetResolutionConfig.width = values[0];
-      presetResolutionConfig.height = values[1];
-      presetResolutionConfig.irDecimationFactor = values[2];
-      presetResolutionConfig.depthDecimationFactor = values[3];
-    } else {
-      RCLCPP_WARN_STREAM(
-          logger_,
-          "Invalid preset_resolution_config parameter. "
-          "Expected format: width,height,ir_decimation_factor,depth_decimation_factor");
+    if (values.size() < 4) {
+      throw StreamConfigurationError(
+          "Invalid preset_resolution_config '" + preset_resolution_config_ +
+          "'. Expected format: width,height,ir_decimation_factor,depth_decimation_factor");
     }
+    presetResolutionConfig.width = values[0];
+    presetResolutionConfig.height = values[1];
+    presetResolutionConfig.irDecimationFactor = values[2];
+    presetResolutionConfig.depthDecimationFactor = values[3];
 
     RCLCPP_INFO_STREAM(
         logger_, "Set preset resolution config: "
@@ -1473,7 +1469,9 @@ void OBCameraNode::setupDevices() {
           logger_, "Current color gain: " << device_->getIntProperty(OB_PROP_COLOR_GAIN_INT)));
     }
   }
-  if (color_mjpeg_quality_ != -1) {
+  if (color_mjpeg_quality_ != -1 &&
+      (format_[COLOR] == OB_FORMAT_UNKNOWN || format_[COLOR] == OB_FORMAT_MJPG ||
+       format_[COLOR] == OB_FORMAT_MJPEG)) {
     if (!device_->isPropertySupported(OB_PROP_MJPEG_QUALITY_INT, OB_PERMISSION_WRITE)) {
       RCLCPP_WARN_STREAM(logger_, "color_mjpeg_quality is not supported by this device");
     } else {
@@ -1489,6 +1487,9 @@ void OBCameraNode::setupDevices() {
             "Current color MJPEG quality: " << device_->getIntProperty(OB_PROP_MJPEG_QUALITY_INT)));
       }
     }
+  } else if (color_mjpeg_quality_ != -1) {
+    RCLCPP_WARN_STREAM(logger_, "color_mjpeg_quality is ignored because color format is "
+                                    << format_str_[COLOR] << "; MJPG/MJPEG is required");
   }
   if (should_apply_launch_config("enable_color_auto_exposure_priority") &&
       device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT, OB_PERMISSION_WRITE)) {
@@ -1735,8 +1736,7 @@ void OBCameraNode::setupDevices() {
         "Current depth auto exposure priority: "
             << (device_->getIntProperty(OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT) ? "ON" : "OFF")));
   }
-  if ((should_apply_launch_config("enable_auto_exposure") ||
-       should_apply_launch_config("enable_ir_auto_exposure")) &&
+  if (should_apply_launch_config("enable_ir_auto_exposure") &&
       device_->isPropertySupported(OB_PROP_IR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
     TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_);
     TRY_EXECUTE_BLOCK(RCLCPP_INFO_STREAM(
@@ -1988,9 +1988,10 @@ void OBCameraNode::setupDevices() {
     TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEVICE_AE_STRATEGY_INT,
                         (ae_strategy_ == "motion" ? 1 : 0));
     TRY_EXECUTE_BLOCK(RCLCPP_INFO_STREAM(
-        logger_, "Current AE Strategy: "
-                     << (device_->getIntProperty(OB_PROP_DEVICE_AE_STRATEGY_INT) == 1 ? "Motion"
-                                                                                      : "Default")));
+        logger_,
+        "Current AE Strategy: " << (device_->getIntProperty(OB_PROP_DEVICE_AE_STRATEGY_INT) == 1
+                                        ? "Motion"
+                                        : "Default")));
   }
 
   if (should_apply_launch_config("ae_reference_stream") &&
@@ -2002,8 +2003,7 @@ void OBCameraNode::setupDevices() {
       TRY_EXECUTE_BLOCK({
         auto current_ae_reference = device_->getIntProperty(OB_PROP_DEVICE_AE_REFERENCE_INT);
         RCLCPP_INFO_STREAM(
-            logger_,
-            "Current AE Reference: " << (current_ae_reference == 0 ? "Depth" : "Color"));
+            logger_, "Current AE Reference: " << (current_ae_reference == 0 ? "Depth" : "Color"));
       });
     }
   }
@@ -3130,6 +3130,12 @@ void OBCameraNode::setupIrPostProcessFilter() {
 }
 
 void OBCameraNode::setupUndistortionFilters() {
+  // LingBot requires color undistortion before D2C alignment on Dabai A series devices.
+  if (enable_enhanced_depth_.load() && isDabaiASeriesForHwD2C(pid_)) {
+    enable_undistortion_[COLOR] = true;
+    RCLCPP_INFO(logger_, "Enable color undistortion for LingBot enhanced depth filter");
+  }
+
   auto remove_undistortion_filter = [](std::vector<std::shared_ptr<ob::Filter>> &filters) {
     filters.erase(std::remove_if(filters.begin(), filters.end(),
                                  [](const std::shared_ptr<ob::Filter> &filter) {
@@ -3612,7 +3618,6 @@ void OBCameraNode::setupProfiles() {
         supported_profiles_[elem].emplace_back(profile);
       }
       std::shared_ptr<ob::VideoStreamProfile> selected_profile;
-      std::shared_ptr<ob::VideoStreamProfile> default_profile;
       try {
         if (is_playback_device_) {
           selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>();
@@ -3654,31 +3659,25 @@ void OBCameraNode::setupProfiles() {
                                 << ", Height: " << height_[elem] << ", FPS: " << fps_[elem]
                                 << ", Format: " << magic_enum::enum_name(format_[elem]));
         RCLCPP_ERROR(logger_,
-                     "Error: The device might be connected via USB 2.0. Please verify your "
-                     "configuration and try again. The current process will now exit.");
+                     "The requested stream profile is invalid. Please correct the stream "
+                     "configuration and restart the node.");
         RCLCPP_INFO_STREAM(logger_, "Available profiles:");
         printSensorProfiles(sensor);
-        RCLCPP_ERROR(logger_, "Failed to configure the requested stream profile, exiting.");
-        exit(-1);
+        throw StreamConfigurationError(
+            "Failed to configure the requested " + stream_name_[elem] +
+            " stream profile: " + orbbec_camera::formatObErrorWithStatus(ex));
       }
 
       if (!selected_profile) {
-        RCLCPP_WARN_STREAM(logger_,
-                           "Requested stream configuration is not supported by the device: "
-                               << "stream=" << magic_enum::enum_name(elem.first)
-                               << ", stream_index=" << elem.second << ", width=" << width_[elem]
-                               << ", height=" << height_[elem] << ", fps=" << fps_[elem]
-                               << ", format=" << magic_enum::enum_name(format_[elem]));
-        if (default_profile) {
-          RCLCPP_WARN_STREAM(logger_, "Using the default profile instead");
-          RCLCPP_WARN_STREAM(logger_, "Default profile FPS: " << default_profile->getFps());
-          selected_profile = default_profile;
-        } else {
-          RCLCPP_ERROR_STREAM(logger_, "No default profile found, disabling stream "
-                                           << magic_enum::enum_name(elem.first));
-          enable_stream_[elem] = false;
-          continue;
-        }
+        const auto message = "Requested " + stream_name_[elem] +
+                             " stream profile is not supported by the device: "
+                             "width=" +
+                             std::to_string(width_[elem]) +
+                             ", height=" + std::to_string(height_[elem]) +
+                             ", fps=" + std::to_string(fps_[elem]) +
+                             ", format=" + std::string(magic_enum::enum_name(format_[elem]));
+        RCLCPP_ERROR_STREAM(logger_, message);
+        throw StreamConfigurationError(message);
       }
       CHECK_NOTNULL(selected_profile);
       stream_profile_[elem] = selected_profile;
@@ -3712,7 +3711,7 @@ void OBCameraNode::setupProfiles() {
   std::string stream_fps_message;
   if (!validate301SeriesStreamFrameRates(fps_, stream_fps_message)) {
     RCLCPP_ERROR_STREAM(logger_, stream_fps_message);
-    throw std::runtime_error(stream_fps_message);
+    throw StreamConfigurationError(stream_fps_message);
   }
 
   // IMU
@@ -4340,6 +4339,7 @@ void OBCameraNode::startStreams() {
                         "Failed to start pipeline: " << orbbec_camera::formatObErrorWithStatus(e));
     RCLCPP_INFO_STREAM(logger_, "try to disable ir stream and try again");
     enable_stream_[INFRA0] = false;
+    setupImagePublisher(INFRA0);
     setupPipelineConfig();
     pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) {
       onNewFrameSetCallback(frame_set);
@@ -4700,7 +4700,7 @@ void OBCameraNode::getParameters() {
                               "right_color_frame_queue_max_frames", 10);
   const auto validate_queue_capacity = [](const char *name, int capacity) {
     if (capacity < 1) {
-      throw std::invalid_argument(std::string(name) + " must be greater than zero");
+      throw StreamConfigurationError(std::string(name) + " must be greater than zero");
     }
   };
   validate_queue_capacity("color_frame_queue_max_frames", color_frame_queue_max_frames_);
@@ -4747,12 +4747,12 @@ void OBCameraNode::getParameters() {
     if (image_qos_history_[stream_index] != "DEFAULT" &&
         image_qos_history_[stream_index] != "KEEP_LAST" &&
         image_qos_history_[stream_index] != "KEEP_ALL") {
-      throw std::invalid_argument(param_name + " must be DEFAULT, KEEP_LAST, or KEEP_ALL");
+      throw StreamConfigurationError(param_name + " must be DEFAULT, KEEP_LAST, or KEEP_ALL");
     }
     param_name = stream_name_[stream_index] + "_qos_depth";
     setAndGetNodeParameter<int>(image_qos_depth_[stream_index], param_name, -1);
     if (image_qos_depth_[stream_index] == 0 || image_qos_depth_[stream_index] < -1) {
-      throw std::invalid_argument(param_name + " must be -1 or greater than zero");
+      throw StreamConfigurationError(param_name + " must be -1 or greater than zero");
     }
     param_name = stream_name_[stream_index] + "_camera_info_qos";
     setAndGetNodeParameter<std::string>(camera_info_qos_[stream_index], param_name, "default");
@@ -4879,11 +4879,7 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<int>(mean_intensity_set_point_, "mean_intensity_set_point",
                               depth_brightness_);
   setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "");
-  setAndGetNodeParameter<bool>(enable_ir_auto_exposure_,
-                               isLaunchParamProvided("enable_auto_exposure")
-                                   ? "enable_auto_exposure"
-                                   : "enable_ir_auto_exposure",
-                               true);
+  setAndGetNodeParameter<bool>(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
   setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
   setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);
   setAndGetNodeParameter<int>(ir_ae_max_exposure_, "ir_ae_max_exposure", -1);
@@ -5192,7 +5188,7 @@ void OBCameraNode::setupTopics() {
     if (enable_enhanced_depth_.load()) {
       std::string message;
       if (!ensureEnhancedDepthFilter(message)) {
-        throw std::runtime_error(message);
+        throw StreamConfigurationError(message);
       }
     }
     setupCameraInfo();
@@ -5201,6 +5197,8 @@ void OBCameraNode::setupTopics() {
     setupPublishers();
     setupDiagnosticUpdater();
     exportConfigJsonIfRequested();
+  } catch (const StreamConfigurationError &) {
+    throw;
   } catch (const ob::Error &e) {
     RCLCPP_ERROR_STREAM(logger_,
                         "Failed to setup topics: " << orbbec_camera::formatObErrorWithStatus(e));
@@ -5399,8 +5397,8 @@ bool OBCameraNode::validateEnhancedDepthFilterConfig(std::string &message) const
   constexpr char kEnhancedDepthSupportedTargetResolutions[] = "640x480/1280x720/1280x800";
   constexpr char kEnhancedDepthSupportedDepthFormats[] = "Y10/Y11/Y12/Y14/Y16/Z16";
 
-  if (!isGemini330SeriesPID(pid_)) {
-    message = "Enhanced depth filter is only supported by Gemini 330 series devices";
+  if (!isLingBotSupportedPID(pid_)) {
+    message = "Enhanced depth filter is only supported by Gemini 330 and Dabai A series devices";
     return false;
   }
 
@@ -5722,12 +5720,71 @@ void OBCameraNode::setupCameraInfo() {
   }
 }
 
+std::string OBCameraNode::resolveStreamStatusTopic(const std::string &topic_name) const {
+  return node_->get_node_topics_interface()->resolve_topic_name(topic_name);
+}
+
+std::string OBCameraNode::compressedStreamStatusTopic(const stream_index_pair &stream_index) const {
+  const std::string topic = stream_name_.at(stream_index) + "/image_raw";
+  return topic + (stream_index == DEPTH ? "/compressedDepth" : "/compressed");
+}
+
+void OBCameraNode::registerStreamStatus(const std::string &topic_name,
+                                        StreamStatusTracker::SubscriberCountFn subscriber_count) {
+  const auto resolved_topic_name = resolveStreamStatusTopic(topic_name);
+  auto tracker =
+      std::make_shared<StreamStatusTracker>(resolved_topic_name, std::move(subscriber_count));
+  std::lock_guard<std::mutex> lock(stream_status_mutex_);
+  stream_status_trackers_[topic_name] = std::move(tracker);
+}
+
+void OBCameraNode::removeStreamStatus(const std::string &topic_name) {
+  std::lock_guard<std::mutex> lock(stream_status_mutex_);
+  stream_status_trackers_.erase(topic_name);
+}
+
+void OBCameraNode::recordStreamStatus(const std::string &topic_name,
+                                      const builtin_interfaces::msg::Time &stamp) {
+  std::shared_ptr<StreamStatusTracker> tracker;
+  {
+    std::lock_guard<std::mutex> lock(stream_status_mutex_);
+    const auto iter = stream_status_trackers_.find(topic_name);
+    if (iter == stream_status_trackers_.end()) {
+      return;
+    }
+    tracker = iter->second;
+  }
+  tracker->record(stamp);
+}
+
+void OBCameraNode::fillStreamStatus(orbbec_camera_msgs::msg::DeviceStatus &status_msg) {
+  std::vector<std::shared_ptr<StreamStatusTracker>> trackers;
+  {
+    std::lock_guard<std::mutex> lock(stream_status_mutex_);
+    trackers.reserve(stream_status_trackers_.size());
+    for (const auto &[topic_name, tracker] : stream_status_trackers_) {
+      (void)topic_name;
+      trackers.push_back(tracker);
+    }
+  }
+
+  status_msg.streams.clear();
+  status_msg.streams.reserve(trackers.size());
+  for (const auto &tracker : trackers) {
+    status_msg.streams.emplace_back();
+    tracker->fill(status_msg.streams.back());
+  }
+}
+
 void OBCameraNode::setupImagePublisher(const stream_index_pair &stream_index) {
   const std::string topic = stream_name_[stream_index] + "/image_raw";
   if (!enable_stream_[stream_index]) {
     releaseGlobalImageTransportPublisher(*node_, topic);
     image_publishers_.erase(stream_index);
     compressed_image_publishers_.erase(stream_index);
+    removeStreamStatus(topic);
+    removeStreamStatus(topic + "/compressed");
+    removeStreamStatus(compressedStreamStatusTopic(stream_index));
     return;
   }
 
@@ -5735,6 +5792,7 @@ void OBCameraNode::setupImagePublisher(const stream_index_pair &stream_index) {
   const bool is_mjpg_color_stream =
       (stream_index == COLOR || stream_index == COLOR_LEFT || stream_index == COLOR_RIGHT) &&
       format_[stream_index] == OB_FORMAT_MJPG;
+  const bool uses_image_transport = !use_intra_process_ && !is_mjpg_color_stream;
   if (use_intra_process_ || is_mjpg_color_stream) {
     releaseGlobalImageTransportPublisher(*node_, topic);
     image_publishers_[stream_index] =
@@ -5745,13 +5803,33 @@ void OBCameraNode::setupImagePublisher(const stream_index_pair &stream_index) {
   }
   RCLCPP_INFO_STREAM(logger_, topic << " QoS: " << getRMWQosProfileDescription(image_qos_profile));
 
+  const auto image_publisher = image_publishers_.at(stream_index);
+  if (uses_image_transport) {
+    registerStreamStatus(topic, [this, topic]() { return node_->count_subscribers(topic); });
+  } else {
+    registerStreamStatus(topic, [image_publisher]() {
+      return image_publisher ? image_publisher->get_subscription_count() : 0;
+    });
+  }
+
   if (is_mjpg_color_stream) {
     compressed_image_publishers_[stream_index] =
         node_->create_publisher<sensor_msgs::msg::CompressedImage>(
             topic + "/compressed",
             rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(image_qos_profile), image_qos_profile));
+    const auto compressed_publisher = compressed_image_publishers_.at(stream_index);
+    registerStreamStatus(topic + "/compressed", [compressed_publisher]() {
+      return compressed_publisher ? compressed_publisher->get_subscription_count() : 0;
+    });
   } else {
     compressed_image_publishers_.erase(stream_index);
+    removeStreamStatus(compressedStreamStatusTopic(stream_index));
+    if (uses_image_transport) {
+      const auto compressed_topic = compressedStreamStatusTopic(stream_index);
+      registerStreamStatus(compressed_topic, [this, compressed_topic]() {
+        return node_->count_subscribers(compressed_topic);
+      });
+    }
   }
 }
 
@@ -5785,11 +5863,23 @@ void OBCameraNode::setupPublishers() {
         "depth_registered/points",
         rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(point_cloud_qos_profile),
                     point_cloud_qos_profile));
+    const auto publisher = depth_registration_cloud_pub_;
+    registerStreamStatus("depth_registered/points", [publisher]() {
+      return publisher ? publisher->get_subscription_count() : 0;
+    });
+  } else {
+    removeStreamStatus("depth_registered/points");
   }
   if (enable_point_cloud_) {
     depth_cloud_pub_ = node_->create_publisher<PointCloud2>(
         "depth/points", rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(point_cloud_qos_profile),
                                     point_cloud_qos_profile));
+    const auto publisher = depth_cloud_pub_;
+    registerStreamStatus("depth/points", [publisher]() {
+      return publisher ? publisher->get_subscription_count() : 0;
+    });
+  } else {
+    removeStreamStatus("depth/points");
   }
   auto device_info = device_->getDeviceInfo();
   CHECK_NOTNULL(device_info.get());
@@ -5834,6 +5924,9 @@ void OBCameraNode::setupPublishers() {
     }
     imu_gyro_accel_publisher_ = node_->create_publisher<sensor_msgs::msg::Imu>(
         topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos));
+    const auto publisher = imu_gyro_accel_publisher_;
+    registerStreamStatus(
+        topic_name, [publisher]() { return publisher ? publisher->get_subscription_count() : 0; });
     topic_name = stream_name_[GYRO] + "/imu_info";
     imu_info_publishers_[GYRO] = node_->create_publisher<orbbec_camera_msgs::msg::IMUInfo>(
         topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos));
@@ -5852,6 +5945,10 @@ void OBCameraNode::setupPublishers() {
       }
       imu_publishers_[stream_index] = node_->create_publisher<sensor_msgs::msg::Imu>(
           data_topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos));
+      const auto publisher = imu_publishers_.at(stream_index);
+      registerStreamStatus(data_topic_name, [publisher]() {
+        return publisher ? publisher->get_subscription_count() : 0;
+      });
       data_topic_name = stream_name_[stream_index] + "/imu_info";
       imu_info_publishers_[stream_index] =
           node_->create_publisher<orbbec_camera_msgs::msg::IMUInfo>(
@@ -6196,6 +6293,7 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
       RCLCPP_ERROR_STREAM(logger_, "Failed to save point cloud: " << e.what());
     }
   }
+  recordStreamStatus("depth/points", point_cloud_msg->header.stamp);
   depth_cloud_pub_->publish(std::move(point_cloud_msg));
 }
 
@@ -6332,6 +6430,7 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
     }
   }
 
+  recordStreamStatus("depth_registered/points", point_cloud_msg->header.stamp);
   depth_registration_cloud_pub_->publish(std::move(point_cloud_msg));
 }
 std::shared_ptr<ob::Frame> OBCameraNode::processIrFrameFilter(std::shared_ptr<ob::Frame> &frame) {
@@ -7159,9 +7258,17 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
     }
   };
   CHECK_NOTNULL(image_publishers_[stream_index]);
-  const bool has_raw_image_subscriber =
-      image_publishers_[stream_index]->get_subscription_count() > 0;
+  const bool has_explicit_compressed_publisher =
+      compressed_image_publishers_.count(stream_index) > 0 &&
+      compressed_image_publishers_.at(stream_index);
+  bool has_raw_image_subscriber = image_publishers_[stream_index]->get_subscription_count() > 0;
+  if (!use_intra_process_ && !has_explicit_compressed_publisher) {
+    has_raw_image_subscriber =
+        node_->count_subscribers(stream_name_[stream_index] + "/image_raw") > 0;
+  }
   const bool has_compressed_image_subscriber = hasCompressedImageSubscriber(stream_index);
+  const bool has_image_transport_compressed_subscriber =
+      has_compressed_image_subscriber && !has_explicit_compressed_publisher;
   bool has_subscriber =
       has_raw_image_subscriber || has_compressed_image_subscriber || save_images_[stream_index];
   has_subscriber =
@@ -7278,18 +7385,10 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
                                                    getSteadyNowUs());
     }
     publishCompressedColorImage(frame, stream_index, timestamp, frame_id);
-    if (!has_raw_image_subscriber) {
-      if (stream_index == COLOR) {
-        fps_delay_status_color_->tick(frame_timestamp);
-      } else if (stream_index == COLOR_LEFT) {
-        fps_delay_status_left_color_->tick(frame_timestamp);
-      } else {
-        fps_delay_status_right_color_->tick(frame_timestamp);
-      }
-    }
   }
 
-  if (!has_raw_image_subscriber && !save_images_[stream_index]) {
+  if (!has_raw_image_subscriber && !save_images_[stream_index] &&
+      !has_image_transport_compressed_subscriber) {
     CHECK(camera_info_publishers_.count(stream_index) > 0);
     camera_info_publishers_[stream_index]->publish(camera_info);
     publishMetadata(frame, stream_index, camera_info.header);
@@ -7351,11 +7450,13 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
       }
     }
   }
-  if (!has_raw_image_subscriber && !save_images_[stream_index]) {
+  if (!has_raw_image_subscriber && !save_images_[stream_index] &&
+      !has_image_transport_compressed_subscriber) {
     return;
   }
   CHECK(image_publishers_.count(stream_index) > 0);
-  if (has_raw_image_subscriber || save_images_[stream_index]) {
+  if (has_raw_image_subscriber || has_image_transport_compressed_subscriber ||
+      save_images_[stream_index]) {
     sensor_msgs::msg::Image::UniquePtr image_msg(new sensor_msgs::msg::Image());
     cv_bridge::CvImage(std_msgs::msg::Header(), image_encoding, image_to_publish)
         .toImageMsg(*image_msg);
@@ -7365,7 +7466,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
     image_msg->step = image_step;
     image_msg->header.frame_id = frame_id;
     saveImageToFile(stream_index, raw_image, image_to_publish, *image_msg, frame);
-    if (!has_raw_image_subscriber) {
+    if (!has_raw_image_subscriber && !has_image_transport_compressed_subscriber) {
       record_image_publish_skipped();
       return;
     }
@@ -7373,18 +7474,11 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
       timestamp_csv_logger_->recordImagePrePublish(stream_index.first, frame, getSystemNowUs(),
                                                    getSteadyNowUs());
     }
-    if (stream_index == COLOR) {
-      fps_delay_status_color_->tick(frame_timestamp);
-    } else if (stream_index == COLOR_LEFT) {
-      fps_delay_status_left_color_->tick(frame_timestamp);
-    } else if (stream_index == COLOR_RIGHT) {
-      fps_delay_status_right_color_->tick(frame_timestamp);
-    } else if (stream_index == DEPTH) {
-      fps_delay_status_depth_->tick(frame_timestamp);
-    } else if (stream_index == INFRA1) {
-      fps_delay_status_left_ir_->tick(frame_timestamp);
-    } else if (stream_index == INFRA2) {
-      fps_delay_status_right_ir_->tick(frame_timestamp);
+    if (has_raw_image_subscriber) {
+      recordStreamStatus(stream_name_[stream_index] + "/image_raw", image_msg->header.stamp);
+    }
+    if (has_image_transport_compressed_subscriber) {
+      recordStreamStatus(compressedStreamStatusTopic(stream_index), image_msg->header.stamp);
     }
     image_publishers_[stream_index]->publish(std::move(image_msg));
   }
@@ -7392,8 +7486,13 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
 
 bool OBCameraNode::hasCompressedImageSubscriber(const stream_index_pair &stream_index) const {
   auto it = compressed_image_publishers_.find(stream_index);
-  return it != compressed_image_publishers_.end() && it->second &&
-         it->second->get_subscription_count() > 0;
+  if (it != compressed_image_publishers_.end() && it->second) {
+    return it->second->get_subscription_count() > 0;
+  }
+  if (use_intra_process_) {
+    return false;
+  }
+  return node_->count_subscribers(compressedStreamStatusTopic(stream_index)) > 0;
 }
 
 void OBCameraNode::publishCompressedColorImage(const std::shared_ptr<ob::Frame> &frame,
@@ -7410,6 +7509,7 @@ void OBCameraNode::publishCompressedColorImage(const std::shared_ptr<ob::Frame>
   msg.format = "jpeg";
   const auto *data = static_cast<const uint8_t *>(frame->getData());
   msg.data.assign(data, data + frame->getDataSize());
+  recordStreamStatus(stream_name_[stream_index] + "/image_raw/compressed", msg.header.stamp);
   it->second->publish(std::move(msg));
 }
 
@@ -7622,6 +7722,8 @@ void OBCameraNode::onNewIMUFrameSyncOutputCallback(const std::shared_ptr<ob::Fra
   imu_msg.linear_acceleration.z = accelData.z - accel_info.bias[2];
 
   const auto publish_system_us = getSystemNowUs();
+  recordStreamStatus(stream_name_[GYRO] + "_" + stream_name_[ACCEL] + "/sample",
+                     imu_msg.header.stamp);
   imu_gyro_accel_publisher_->publish(imu_msg);
   record_timestamps(publish_system_us);
 }
@@ -7682,6 +7784,7 @@ void OBCameraNode::onNewIMUFrameCallback(const std::shared_ptr<ob::Frame> &frame
     return;
   }
   const auto publish_system_us = getSystemNowUs();
+  recordStreamStatus(stream_name_[stream_index] + "/sample", imu_msg.header.stamp);
   imu_publishers_[stream_index]->publish(imu_msg);
   record_timestamps(publish_system_us);
 }
@@ -8099,6 +8202,10 @@ bool OBCameraNode::isDabaiASeriesForHwD2C(uint32_t pid) {
          pid == GEMINI_345LG_PID;
 }
 
+bool OBCameraNode::isLingBotSupportedPID(uint32_t pid) {
+  return isGemini330SeriesPID(pid) || isDabaiASeriesForHwD2C(pid);
+}
+
 bool OBCameraNode::isDepthWorkModeDevices(uint32_t pid) { return pid == GEMINI_435Le_PID; }
 
 bool OBCameraNode::isnotLaserDevices(uint32_t pid) { return isGemini301SeriesPID(pid); }
@@ -8428,8 +8535,8 @@ bool OBCameraNode::applyEnhancedDepthFilterConfig(
     bool enabled, const std::vector<float> &positional_params,
     const std::vector<orbbec_camera_msgs::msg::DepthFilterParam> &named_params,
     std::string &message) {
-  if (!isGemini330SeriesPID(pid_)) {
-    message = "Enhanced depth filter is only supported by Gemini 330 series devices";
+  if (!isLingBotSupportedPID(pid_)) {
+    message = "Enhanced depth filter is only supported by Gemini 330 and Dabai A series devices";
     return false;
   }
 
diff --git a/orbbec_camera/src/ob_camera_node_driver.cpp b/orbbec_camera/src/ob_camera_node_driver.cpp
index db77106e..a44302dd 100644
--- a/orbbec_camera/src/ob_camera_node_driver.cpp
+++ b/orbbec_camera/src/ob_camera_node_driver.cpp
@@ -442,8 +442,7 @@ void OBCameraNodeDriver::init() {
   CHECK_NOTNULL(check_connect_timer_);
   if (device_type_ == "camera") {
     device_status_timer_ =
-        this->create_wall_timer(std::chrono::milliseconds(1000 / device_status_interval_hz),
-                                [this]() { deviceStatusTimer(); });
+        this->create_wall_timer(std::chrono::seconds(1), [this]() { deviceStatusTimer(); });
     auto qos = rclcpp::QoS(1).transient_local();
     if (node_options_.use_intra_process_comms()) {
       qos = rclcpp::QoS(1);
@@ -480,6 +479,10 @@ void OBCameraNodeDriver::onDeviceConnected(const std::shared_ptr<ob::DeviceList>
     return;
   }
 
+  if (stream_configuration_error_.load()) {
+    return;
+  }
+
   if (!device_) {
     startDevice(device_list);
   }
@@ -552,6 +555,10 @@ void OBCameraNodeDriver::checkConnectTimer() {
 
 void OBCameraNodeDriver::queryDevice() {
   while (is_alive_ && rclcpp::ok()) {
+    if (stream_configuration_error_.load()) {
+      return;
+    }
+
     // Check if device reset is in progress before attempting to connect
     {
       std::unique_lock<decltype(reset_device_mutex_)> reset_lock(reset_device_mutex_);
@@ -714,6 +721,10 @@ void OBCameraNodeDriver::deviceStatusTimer() {
   status_msg.calibration_from_launch_param = false;
   status_msg.customer_calibration_ready = false;
 
+  if (ob_camera_node_) {
+    ob_camera_node_->fillStreamStatus(status_msg);
+  }
+
   // Flag to track if device communication error occurs
   bool device_communication_error = false;
 
@@ -725,30 +736,6 @@ void OBCameraNodeDriver::deviceStatusTimer() {
     if (reset_lock.owns_lock() && !reset_device_flag_) {
       // Only get device-specific info if we have a valid camera node and device
       if (ob_camera_node_) {
-        // Safely get color and depth status - these may access device
-        try {
-          ob_camera_node_->getColorStatus(status_msg);
-          ob_camera_node_->getDepthStatus(status_msg);
-        } catch (const ob::Error &e) {
-          std::string error_msg = orbbec_camera::formatObErrorWithStatus(e);
-          if (error_msg.find("Device is deactivated") != std::string::npos ||
-              error_msg.find("disconnected") != std::string::npos ||
-              error_msg.find("Send control transfer failed") != std::string::npos) {
-            RCLCPP_WARN(
-                logger_,
-                "Device communication error in %s at line %d: %s - Device may be disconnected",
-                __FUNCTION__, __LINE__, error_msg.c_str());
-            device_communication_error = true;
-          } else {
-            RCLCPP_ERROR(logger_, "Error in %s at line %d: %s", __FUNCTION__, __LINE__,
-                         error_msg.c_str());
-          }
-        } catch (const std::exception &e) {
-          RCLCPP_ERROR(logger_, "Exception in %s at line %d: %s", __FUNCTION__, __LINE__, e.what());
-        } catch (...) {
-          RCLCPP_ERROR(logger_, "Unknown exception in %s at line %d", __FUNCTION__, __LINE__);
-        }
-
         // These should be safe as they don't directly access hardware
         status_msg.calibration_from_launch_param = ob_camera_node_->isParamCalibrated();
       }
@@ -1204,6 +1191,12 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
       }
 
       initialized = true;
+    } catch (const StreamConfigurationError &e) {
+      if (!stream_configuration_error_.exchange(true)) {
+        RCLCPP_ERROR_STREAM(logger_, "Invalid stream configuration; shutting down: " << e.what());
+        rclcpp::shutdown();
+      }
+      throw;
     } catch (const ob::Error &e) {
       RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device (Attempt "
                                        << retry_count + 1 << " of " << max_retries
@@ -1507,6 +1500,8 @@ void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int
     if (!device_connected_) {
       RCLCPP_ERROR_STREAM(logger_, "Failed to initialize net device " << net_device_ip);
     }
+  } catch (const StreamConfigurationError &) {
+    device_connected_ = false;
   } catch (const std::exception &e) {
     RCLCPP_ERROR_STREAM(logger_, "Exception during net device initialization: " << e.what());
     device_connected_ = false;
@@ -1517,7 +1512,7 @@ void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int
 }
 
 void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list) {
-  if (device_connected_.load()) {
+  if (device_connected_.load() || stream_configuration_error_.load()) {
     return;
   }
 
@@ -1608,6 +1603,8 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
     //   // Fixing 301 series hot-swap not outputting power
     //   ob_camera_node_->startStreams();
     // }
+  } catch (const StreamConfigurationError &) {
+    device_connected_ = false;
   } catch (ob::Error &e) {
     RCLCPP_ERROR_STREAM(
         logger_, "Failed to initialize device " << orbbec_camera::formatObErrorWithStatus(e));
diff --git a/orbbec_camera/tools/firmware_update_tool.cpp b/orbbec_camera/tools/firmware_update_tool.cpp
index be693071..20d4c847 100644
--- a/orbbec_camera/tools/firmware_update_tool.cpp
+++ b/orbbec_camera/tools/firmware_update_tool.cpp
@@ -420,8 +420,10 @@ DeviceIdentity getDeviceIdentity(const std::shared_ptr<ob::DeviceInfo> &device_i
   DeviceIdentity identity;
   identity.serial_number = safeString(device_info->getSerialNumber());
   identity.uid = safeString(device_info->getUid());
-  identity.ip_address = safeString(device_info->getIpAddress());
   identity.is_network = safeString(device_info->getConnectionType()) == "Ethernet";
+  if (identity.is_network) {
+    identity.ip_address = safeString(device_info->getIpAddress());
+  }
   return identity;
 }
 
diff --git a/orbbec_camera/tools/list_camera_profile.cpp b/orbbec_camera/tools/list_camera_profile.cpp
index 07e352e5..b3807280 100644
--- a/orbbec_camera/tools/list_camera_profile.cpp
+++ b/orbbec_camera/tools/list_camera_profile.cpp
@@ -22,15 +22,18 @@ constexpr char kDocumentationUrl[] =
 struct CliArgs {
   bool help = false;
   std::string serial_number;
+  std::string device_preset;
   std::string sdk_log_level = "off";
 };
 
 void printUsage() {
   std::cout << "Usage:\n"
             << "ros2 run orbbec_camera list_camera_profile_mode_node --\\\n"
-            << "      [--serial_number SN]\n\n"
+            << "      [--serial_number SN] [--device_preset PRESET]\n\n"
             << "Parameters:\n"
             << "  --serial_number SN  Select a specific camera by serial number.\n"
+            << "  --device_preset PRESET\n"
+            << "                      Load a device preset before listing profiles.\n"
             << "  --sdk_log_level LEVEL\n"
             << "                      SDK file log level: debug/info/warn/error/fatal/off "
                "(default: off).\n"
@@ -67,6 +70,28 @@ bool parseArgs(int argc, char** argv, CliArgs& args, std::string& error) {
       continue;
     }
 
+    if (current.rfind("--device_preset=", 0) == 0) {
+      args.device_preset = current.substr(std::strlen("--device_preset="));
+      if (args.device_preset.empty()) {
+        error = "--device_preset requires a value";
+        return false;
+      }
+      continue;
+    }
+
+    if (current == "--device_preset") {
+      if (++i >= argc) {
+        error = "--device_preset requires a value";
+        return false;
+      }
+      args.device_preset = argv[i];
+      if (args.device_preset.empty()) {
+        error = "--device_preset requires a value";
+        return false;
+      }
+      continue;
+    }
+
     if (current.rfind("--sdk_log_level=", 0) == 0) {
       args.sdk_log_level = current.substr(std::strlen("--sdk_log_level="));
       continue;
@@ -220,6 +245,23 @@ void printPreset(const std::shared_ptr<ob::Device>& device) {
   }
 }
 
+bool loadDevicePreset(const std::shared_ptr<ob::Device>& device, const std::string& device_preset) {
+  if (device_preset.empty()) {
+    return true;
+  }
+
+  try {
+    device->loadPreset(device_preset.c_str());
+    std::cout << "Loaded device preset: " << device_preset << std::endl;
+    return true;
+  } catch (const ob::Error& e) {
+    std::cerr << "Failed to load device preset: " << formatObErrorWithStatus(e) << std::endl;
+  } catch (const std::exception& e) {
+    std::cerr << "Failed to load device preset: " << e.what() << std::endl;
+  }
+  return false;
+}
+
 int main(int argc, char** argv) {
   CliArgs args;
   std::string parse_error;
@@ -247,6 +289,9 @@ int main(int argc, char** argv) {
   if (isSdkLogEnabled(args.sdk_log_level)) {
     firmware_log_enabled = enableFirmwareLog(device);
   }
+  if (!loadDevicePreset(device, args.device_preset)) {
+    return -1;
+  }
   listSensorProfiles(device);
   printDeviceProperties(device);
   printPreset(device);
diff --git a/orbbec_camera_msgs/CMakeLists.txt b/orbbec_camera_msgs/CMakeLists.txt
index c004d1d6..14acfc3a 100644
--- a/orbbec_camera_msgs/CMakeLists.txt
+++ b/orbbec_camera_msgs/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(std_msgs REQUIRED)
 rosidl_generate_interfaces(
     ${PROJECT_NAME}
     "msg/DeviceInfo.msg"
+    "msg/StreamStatus.msg"
     "msg/DeviceStatus.msg"
     "msg/DepthFilterParam.msg"
     "msg/DepthFilterState.msg"
diff --git a/orbbec_camera_msgs/msg/DeviceStatus.msg b/orbbec_camera_msgs/msg/DeviceStatus.msg
index 32b46777..5e07cda1 100644
--- a/orbbec_camera_msgs/msg/DeviceStatus.msg
+++ b/orbbec_camera_msgs/msg/DeviceStatus.msg
@@ -1,76 +1,7 @@
 std_msgs/Header header
-
-# --- Color stream ---
-float64 color_frame_rate_cur
-float64 color_frame_rate_avg
-float64 color_frame_rate_min
-float64 color_frame_rate_max
-
-float64 color_delay_ms_cur
-float64 color_delay_ms_avg
-float64 color_delay_ms_min
-float64 color_delay_ms_max
-
-# --- Left color stream ---
-float64 left_color_frame_rate_cur
-float64 left_color_frame_rate_avg
-float64 left_color_frame_rate_min
-float64 left_color_frame_rate_max
-
-float64 left_color_delay_ms_cur
-float64 left_color_delay_ms_avg
-float64 left_color_delay_ms_min
-float64 left_color_delay_ms_max
-
-# --- Right color stream ---
-float64 right_color_frame_rate_cur
-float64 right_color_frame_rate_avg
-float64 right_color_frame_rate_min
-float64 right_color_frame_rate_max
-
-float64 right_color_delay_ms_cur
-float64 right_color_delay_ms_avg
-float64 right_color_delay_ms_min
-float64 right_color_delay_ms_max
-
-# --- Depth stream ---
-float64 depth_frame_rate_cur
-float64 depth_frame_rate_avg
-float64 depth_frame_rate_min
-float64 depth_frame_rate_max
-
-float64 depth_delay_ms_cur
-float64 depth_delay_ms_avg
-float64 depth_delay_ms_min
-float64 depth_delay_ms_max
-
-# --- Left IR stream ---
-float64 left_ir_frame_rate_cur
-float64 left_ir_frame_rate_avg
-float64 left_ir_frame_rate_min
-float64 left_ir_frame_rate_max
-
-float64 left_ir_delay_ms_cur
-float64 left_ir_delay_ms_avg
-float64 left_ir_delay_ms_min
-float64 left_ir_delay_ms_max
-
-# --- Right IR stream ---
-float64 right_ir_frame_rate_cur
-float64 right_ir_frame_rate_avg
-float64 right_ir_frame_rate_min
-float64 right_ir_frame_rate_max
-
-float64 right_ir_delay_ms_cur
-float64 right_ir_delay_ms_avg
-float64 right_ir_delay_ms_min
-float64 right_ir_delay_ms_max
-
-# --- Device info ---
 bool device_online
-string connection_type   # e.g. "USB2.0", "USB3.0", "GigE"
-
-# --- Calibration status ---
+string connection_type
 bool customer_calibration_ready
 bool calibration_from_factory
 bool calibration_from_launch_param
+orbbec_camera_msgs/StreamStatus[] streams
diff --git a/orbbec_camera_msgs/msg/StreamStatus.msg b/orbbec_camera_msgs/msg/StreamStatus.msg
new file mode 100644
index 00000000..11dc7956
--- /dev/null
+++ b/orbbec_camera_msgs/msg/StreamStatus.msg
@@ -0,0 +1,4 @@
+string topic_name
+bool has_subscribers
+float64 publish_rate_hz
+float64 delay_ms_avg