diff --git a/orbbec_camera/launch/dabai_a.launch.py b/orbbec_camera/launch/dabai_a.launch.py
index c105ddd5..d23afd90 100644
--- a/orbbec_camera/launch/dabai_a.launch.py
+++ b/orbbec_camera/launch/dabai_a.launch.py
@@ -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'),
diff --git a/orbbec_camera/launch/dabai_al.launch.py b/orbbec_camera/launch/dabai_al.launch.py
index 6dc42693..4bf3341e 100644
--- a/orbbec_camera/launch/dabai_al.launch.py
+++ b/orbbec_camera/launch/dabai_al.launch.py
@@ -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'),
diff --git a/orbbec_camera/launch/gemini345.launch.py b/orbbec_camera/launch/gemini345.launch.py
index 197fd52b..26942a0a 100644
--- a/orbbec_camera/launch/gemini345.launch.py
+++ b/orbbec_camera/launch/gemini345.launch.py
@@ -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'),
diff --git a/orbbec_camera/launch/gemini345_lg.launch.py b/orbbec_camera/launch/gemini345_lg.launch.py
index cf22d547..64739f43 100644
--- a/orbbec_camera/launch/gemini345_lg.launch.py
+++ b/orbbec_camera/launch/gemini345_lg.launch.py
@@ -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'),
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 047e7e50..3dc4a0a7 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -1736,8 +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(
@@ -4874,11 +4873,7 @@ 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);