diff --git a/orbbec_camera/src/ros_service.cpp b/orbbec_camera/src/ros_service.cpp
index 8c4be54b..bbf8f012 100644
--- a/orbbec_camera/src/ros_service.cpp
+++ b/orbbec_camera/src/ros_service.cpp
@@ -1940,7 +1940,11 @@ bool OBCameraNode::toggleSensor(const stream_index_pair& stream_index, bool enab
                                 std::string& msg) {
   std::lock_guard<decltype(device_lock_)> lock(device_lock_);
   try {
-    pipeline_->stop();
+    const bool interleave_frame_enable = interleave_frame_enable_;
+    stopStreams();
+    interleave_frame_enable_ = interleave_frame_enable;
+    stopColorFrameThreads();
+    clearColorFrameQueues();
     enable_stream_[stream_index] = enabled;
     setupProfiles();
     startStreams();