diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index 7536e1f3..d9dc8bb2 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -262,6 +262,9 @@ class OBCameraNode {
   void switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request,
                               std::shared_ptr<SetString::Response>& response);
 
+  void setIRLongExposureCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
+                                 std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
+
   void publishPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
 
   void publishDepthPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
@@ -360,6 +363,7 @@ class OBCameraNode {
   rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
   rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
   rclcpp::Service<SetString>::SharedPtr switch_ir_camera_srv_;
+  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ir_long_exposure_srv_;
   std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
       set_auto_exposure_srv_;
   rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;
diff --git a/orbbec_camera/src/ros_service.cpp b/orbbec_camera/src/ros_service.cpp
index a554f633..9e2488b7 100644
--- a/orbbec_camera/src/ros_service.cpp
+++ b/orbbec_camera/src/ros_service.cpp
@@ -159,6 +159,11 @@ void OBCameraNode::setupCameraCtrlServices() {
                           std::shared_ptr<SetString::Response> response) {
         switchIRCameraCallback(request, response);
       });
+  set_ir_long_exposure_srv_ = node_->create_service<SetBool>(
+      "set_ir_long_exposure", [this](const std::shared_ptr<SetBool::Request> request,
+                                     std::shared_ptr<SetBool::Response> response) {
+        setIRLongExposureCallback(request, response);
+      });
 }
 
 void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -686,4 +691,21 @@ void OBCameraNode::switchIRCameraCallback(const std::shared_ptr<SetString::Reque
     response->success = false;
   }
 }
+void OBCameraNode::setIRLongExposureCallback(
+    const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
+    std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
+  try {
+    device_->setBoolProperty(OB_PROP_IR_LONG_EXPOSURE_BOOL, request->data);
+    response->success = true;
+  } catch (const ob::Error& e) {
+    response->message = e.getMessage();
+    response->success = false;
+  } catch (const std::exception& e) {
+    response->message = e.what();
+    response->success = false;
+  } catch (...) {
+    response->message = "unknown error";
+    response->success = false;
+  }
+}
 }  // namespace orbbec_camera