diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index 09d21926..550fd232 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -352,6 +352,7 @@ class OBCameraNode {
   std::unique_ptr<ob::Pipeline> pipeline_ = nullptr;
   std::unique_ptr<ob::Pipeline> imuPipeline_ = nullptr;
   std::atomic_bool pipeline_started_{false};
+  std::string prefix_ = "";
   std::string camera_name_ = "camera";
   const std::string imu_optical_frame_id_ = "camera_gyro_optical_frame";
   const std::string imu_frame_id_ = "camera_gyro_frame";
diff --git a/orbbec_camera/launch/astra.launch.py b/orbbec_camera/launch/astra.launch.py
index 5dea0f17..a74b4b0f 100644
--- a/orbbec_camera/launch/astra.launch.py
+++ b/orbbec_camera/launch/astra.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -99,14 +100,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -119,7 +120,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/astra2.launch.py b/orbbec_camera/launch/astra2.launch.py
index caa2ef14..6aa4f1c5 100644
--- a/orbbec_camera/launch/astra2.launch.py
+++ b/orbbec_camera/launch/astra2.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -107,14 +108,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -127,7 +128,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/astra_adv.launch.py b/orbbec_camera/launch/astra_adv.launch.py
index 2d658075..184d58dc 100644
--- a/orbbec_camera/launch/astra_adv.launch.py
+++ b/orbbec_camera/launch/astra_adv.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -99,14 +100,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -119,7 +120,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/astra_embedded_s.launch.py b/orbbec_camera/launch/astra_embedded_s.launch.py
index de8235c8..1d68e66c 100644
--- a/orbbec_camera/launch/astra_embedded_s.launch.py
+++ b/orbbec_camera/launch/astra_embedded_s.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -99,14 +100,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -119,7 +120,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/astra_pro2.launch.py b/orbbec_camera/launch/astra_pro2.launch.py
index 25dd5e14..c5945404 100644
--- a/orbbec_camera/launch/astra_pro2.launch.py
+++ b/orbbec_camera/launch/astra_pro2.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -99,14 +100,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -119,7 +120,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/astra_stereo_u3.launch.py b/orbbec_camera/launch/astra_stereo_u3.launch.py
index 43d781ae..b5c90a11 100644
--- a/orbbec_camera/launch/astra_stereo_u3.launch.py
+++ b/orbbec_camera/launch/astra_stereo_u3.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -99,14 +100,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -119,7 +120,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/dabai.launch.py b/orbbec_camera/launch/dabai.launch.py
index 43d781ae..b5c90a11 100644
--- a/orbbec_camera/launch/dabai.launch.py
+++ b/orbbec_camera/launch/dabai.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -99,14 +100,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -119,7 +120,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/dabai_d1.launch.py b/orbbec_camera/launch/dabai_d1.launch.py
index 3f87875a..5e980d94 100644
--- a/orbbec_camera/launch/dabai_d1.launch.py
+++ b/orbbec_camera/launch/dabai_d1.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('serial_number', default_value=''),
         DeclareLaunchArgument('usb_port', default_value=''),
@@ -83,14 +84,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -103,7 +104,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/dabai_dcl.py b/orbbec_camera/launch/dabai_dcl.py
index 9a19764a..5a049f13 100644
--- a/orbbec_camera/launch/dabai_dcl.py
+++ b/orbbec_camera/launch/dabai_dcl.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -120,14 +121,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -140,7 +141,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/dabai_dcw.launch.py b/orbbec_camera/launch/dabai_dcw.launch.py
index 77d46593..7c8bfc79 100644
--- a/orbbec_camera/launch/dabai_dcw.launch.py
+++ b/orbbec_camera/launch/dabai_dcw.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -99,14 +100,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -119,7 +120,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/dabai_dcw2.launch.py b/orbbec_camera/launch/dabai_dcw2.launch.py
index 13deec96..064b43e0 100644
--- a/orbbec_camera/launch/dabai_dcw2.launch.py
+++ b/orbbec_camera/launch/dabai_dcw2.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -107,14 +108,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -127,7 +128,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/dabai_dw.launch.py b/orbbec_camera/launch/dabai_dw.launch.py
index 1f7f40b8..490a3dc7 100644
--- a/orbbec_camera/launch/dabai_dw.launch.py
+++ b/orbbec_camera/launch/dabai_dw.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('serial_number', default_value=''),
         DeclareLaunchArgument('usb_port', default_value=''),
@@ -82,14 +83,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -102,7 +103,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/dabai_dw2.launch.py b/orbbec_camera/launch/dabai_dw2.launch.py
index ac4da505..18624934 100644
--- a/orbbec_camera/launch/dabai_dw2.launch.py
+++ b/orbbec_camera/launch/dabai_dw2.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('serial_number', default_value=''),
         DeclareLaunchArgument('usb_port', default_value=''),
@@ -82,14 +83,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -102,7 +103,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/dabai_max.launch.py b/orbbec_camera/launch/dabai_max.launch.py
index 6f89fa53..9dc2b856 100644
--- a/orbbec_camera/launch/dabai_max.launch.py
+++ b/orbbec_camera/launch/dabai_max.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('serial_number', default_value=''),
         DeclareLaunchArgument('usb_port', default_value=''),
@@ -84,14 +85,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -104,7 +105,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/dabai_max_pro.launch.py b/orbbec_camera/launch/dabai_max_pro.launch.py
index 7aa6221a..a2f06304 100644
--- a/orbbec_camera/launch/dabai_max_pro.launch.py
+++ b/orbbec_camera/launch/dabai_max_pro.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -100,14 +101,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -120,7 +121,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/dabai_pro.launch.py b/orbbec_camera/launch/dabai_pro.launch.py
index 1f7f40b8..490a3dc7 100644
--- a/orbbec_camera/launch/dabai_pro.launch.py
+++ b/orbbec_camera/launch/dabai_pro.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('serial_number', default_value=''),
         DeclareLaunchArgument('usb_port', default_value=''),
@@ -82,14 +83,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -102,7 +103,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/deeya.launch.py b/orbbec_camera/launch/deeya.launch.py
index 334983e0..3519c72f 100644
--- a/orbbec_camera/launch/deeya.launch.py
+++ b/orbbec_camera/launch/deeya.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -97,14 +98,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -117,7 +118,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/femto.launch.py b/orbbec_camera/launch/femto.launch.py
index 153f2676..42228f85 100644
--- a/orbbec_camera/launch/femto.launch.py
+++ b/orbbec_camera/launch/femto.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -108,14 +109,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -128,7 +129,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/femto_bolt.launch.py b/orbbec_camera/launch/femto_bolt.launch.py
index 11b06ef1..2382a5f0 100644
--- a/orbbec_camera/launch/femto_bolt.launch.py
+++ b/orbbec_camera/launch/femto_bolt.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -115,14 +116,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -135,7 +136,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/femto_mega.launch.py b/orbbec_camera/launch/femto_mega.launch.py
index ed67d63e..e631ce8a 100644
--- a/orbbec_camera/launch/femto_mega.launch.py
+++ b/orbbec_camera/launch/femto_mega.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -123,14 +124,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -143,7 +144,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/gemini2.launch.py b/orbbec_camera/launch/gemini2.launch.py
index 1f34da3b..001f8c7a 100644
--- a/orbbec_camera/launch/gemini2.launch.py
+++ b/orbbec_camera/launch/gemini2.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -121,14 +122,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -141,7 +142,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/gemini2L.launch.py b/orbbec_camera/launch/gemini2L.launch.py
index f71d1a59..cb497a45 100644
--- a/orbbec_camera/launch/gemini2L.launch.py
+++ b/orbbec_camera/launch/gemini2L.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -122,14 +123,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -142,7 +143,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/gemini2VL.launch.py b/orbbec_camera/launch/gemini2VL.launch.py
index e9577ca7..d7c2eba5 100644
--- a/orbbec_camera/launch/gemini2VL.launch.py
+++ b/orbbec_camera/launch/gemini2VL.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -114,14 +115,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -134,7 +135,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/gemini2XL.launch.py b/orbbec_camera/launch/gemini2XL.launch.py
index 9261edc8..a05fe381 100644
--- a/orbbec_camera/launch/gemini2XL.launch.py
+++ b/orbbec_camera/launch/gemini2XL.launch.py
@@ -11,6 +11,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -130,14 +131,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -150,7 +151,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py
index f1d9359e..281aa99b 100644
--- a/orbbec_camera/launch/gemini_330_series.launch.py
+++ b/orbbec_camera/launch/gemini_330_series.launch.py
@@ -51,6 +51,7 @@ def load_parameters(context, args):
 
 def generate_launch_description():
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='true'),
         DeclareLaunchArgument('serial_number', default_value=''),
diff --git a/orbbec_camera/launch/gemini_e.launch.py b/orbbec_camera/launch/gemini_e.launch.py
index 1d7389ea..1e25d31e 100644
--- a/orbbec_camera/launch/gemini_e.launch.py
+++ b/orbbec_camera/launch/gemini_e.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -98,14 +99,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -118,7 +119,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/gemini_e_lite.launch.py b/orbbec_camera/launch/gemini_e_lite.launch.py
index eefa22df..ae187703 100644
--- a/orbbec_camera/launch/gemini_e_lite.launch.py
+++ b/orbbec_camera/launch/gemini_e_lite.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('serial_number', default_value=''),
         DeclareLaunchArgument('usb_port', default_value=''),
@@ -83,14 +84,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -103,7 +104,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/gemini_ew.launch.py b/orbbec_camera/launch/gemini_ew.launch.py
index 3c02f093..9bb997b2 100644
--- a/orbbec_camera/launch/gemini_ew.launch.py
+++ b/orbbec_camera/launch/gemini_ew.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -99,14 +100,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -119,7 +120,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/gemini_ew_lite.launch.py b/orbbec_camera/launch/gemini_ew_lite.launch.py
index 622aea17..0a926a6a 100644
--- a/orbbec_camera/launch/gemini_ew_lite.launch.py
+++ b/orbbec_camera/launch/gemini_ew_lite.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('serial_number', default_value=''),
         DeclareLaunchArgument('usb_port', default_value=''),
@@ -86,14 +87,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -106,7 +107,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/gemini_intra_process_demo_launch.py b/orbbec_camera/launch/gemini_intra_process_demo_launch.py
index 1297d1a8..84fdb23c 100644
--- a/orbbec_camera/launch/gemini_intra_process_demo_launch.py
+++ b/orbbec_camera/launch/gemini_intra_process_demo_launch.py
@@ -51,6 +51,7 @@ def load_parameters(context, args):
 
 def generate_launch_description():
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='true'),
         DeclareLaunchArgument('serial_number', default_value=''),
diff --git a/orbbec_camera/launch/gemini_uw.launch.py b/orbbec_camera/launch/gemini_uw.launch.py
index 7aa6221a..a2f06304 100644
--- a/orbbec_camera/launch/gemini_uw.launch.py
+++ b/orbbec_camera/launch/gemini_uw.launch.py
@@ -12,6 +12,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -100,14 +101,14 @@ def generate_launch_description():
         compose_node = ComposableNode(
             package="orbbec_camera",
             plugin="orbbec_camera::OBCameraNodeDriver",
-            name=LaunchConfiguration("camera_name"),
-            namespace="",
+            name="orbbec_node_driver",
+            namespace=LaunchConfiguration("camera_name"),
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-            name="camera_container",
-            namespace="",
+            name="container",
+            namespace=LaunchConfiguration("camera_name"),
             package="rclcpp_components",
             executable="component_container",
             composable_node_descriptions=[
@@ -120,7 +121,7 @@ def generate_launch_description():
             args
             + [
                 GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                    [PushRosNamespace(LaunchConfiguration("prefix")), container]
                 )
             ]
         )
diff --git a/orbbec_camera/launch/ob_camera.launch.py b/orbbec_camera/launch/ob_camera.launch.py
index 0cf68b27..739fd675 100644
--- a/orbbec_camera/launch/ob_camera.launch.py
+++ b/orbbec_camera/launch/ob_camera.launch.py
@@ -10,6 +10,7 @@
 def generate_launch_description():
     # Declare arguments
     args = [
+        DeclareLaunchArgument('prefix', default_value=''),
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
@@ -74,14 +75,14 @@ def generate_launch_description():
     compose_node = ComposableNode(
         package='orbbec_camera',
         plugin='orbbec_camera::OBCameraNodeDriver',
-        name=LaunchConfiguration('camera_name'),
-        namespace='',
+        name="orbbec_node_driver",
+        namespace=LaunchConfiguration("camera_name"),
         parameters=parameters,
     )
     # Define the ComposableNodeContainer
     container = ComposableNodeContainer(
-        name='camera_container',
-        namespace='',
+        name="container",
+        namespace=LaunchConfiguration("camera_name"),
         package='rclcpp_components',
         executable='component_container',
         composable_node_descriptions=[
diff --git a/orbbec_camera/src/d2c_viewer.cpp b/orbbec_camera/src/d2c_viewer.cpp
index 0a833251..b5c8878d 100644
--- a/orbbec_camera/src/d2c_viewer.cpp
+++ b/orbbec_camera/src/d2c_viewer.cpp
@@ -30,9 +30,9 @@ D2CViewer::D2CViewer(rclcpp::Node* const node, rmw_qos_profile_t rgb_qos,
                      rmw_qos_profile_t depth_qos)
     : node_(node), logger_(rclcpp::get_logger("d2c_viewer")) {
   rgb_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
-      node_, "color/image_raw", rgb_qos);
+      node_, "~/color/image_raw", rgb_qos);
   depth_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
-      node_, "depth/image_raw", depth_qos);
+      node_, "~/depth/image_raw", depth_qos);
   sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(MySyncPolicy(10), *rgb_sub_,
                                                                         *depth_sub_);
   sync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(1.0));  // 1s
@@ -41,7 +41,7 @@ D2CViewer::D2CViewer(rclcpp::Node* const node, rmw_qos_profile_t rgb_qos,
   using std::placeholders::_2;
   sync_->registerCallback(std::bind(&D2CViewer::messageCallback, this, _1, _2));
   d2c_viewer_pub_ =
-      node_->create_publisher<sensor_msgs::msg::Image>("depth_to_color/image_raw", rclcpp::QoS(1));
+      node_->create_publisher<sensor_msgs::msg::Image>("~/depth_to_color/image_raw", rclcpp::QoS(1));
 }
 D2CViewer::~D2CViewer() = default;
 
diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index b8fdb061..c7b4a865 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -977,8 +977,9 @@ void OBCameraNode::setupDefaultImageFormat() {
 }
 
 void OBCameraNode::getParameters() {
+  setAndGetNodeParameter<std::string>(prefix_, "prefix", "");
   setAndGetNodeParameter<std::string>(camera_name_, "camera_name", "camera");
-  camera_link_frame_id_ = camera_name_ + "_link";
+  camera_link_frame_id_ = prefix_ + camera_name_ + "_link";
   for (auto stream_index : IMAGE_STREAMS) {
     std::string param_name = stream_name_[stream_index] + "_width";
     setAndGetNodeParameter(width_[stream_index], param_name, 0);
@@ -995,10 +996,10 @@ void OBCameraNode::getParameters() {
     param_name = "flip_" + stream_name_[stream_index];
     setAndGetNodeParameter(flip_stream_[stream_index], param_name, false);
     param_name = camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
-    std::string default_frame_id = camera_name_ + "_" + stream_name_[stream_index] + "_frame";
+    std::string default_frame_id = prefix_ + camera_name_ + "_" + stream_name_[stream_index] + "_frame";
     setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);
     std::string default_optical_frame_id =
-        camera_name_ + "_" + stream_name_[stream_index] + "_optical_frame";
+        prefix_ + camera_name_ + "_" + stream_name_[stream_index] + "_optical_frame";
     param_name = stream_name_[stream_index] + "_optical_frame_id";
     setAndGetNodeParameter(optical_frame_id_[stream_index], param_name, default_optical_frame_id);
     param_name = stream_name_[stream_index] + "_format";
@@ -1029,14 +1030,14 @@ void OBCameraNode::getParameters() {
     param_name = stream_name_[stream_index] + "_range";
     setAndGetNodeParameter<std::string>(imu_range_[stream_index], param_name, "");
     param_name = camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
-    std::string default_frame_id = camera_name_ + "_" + stream_name_[stream_index] + "_frame";
+    std::string default_frame_id = prefix_ + camera_name_ + "_" + stream_name_[stream_index] + "_frame";
     setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);
     std::string default_optical_frame_id =
-        camera_name_ + "_" + stream_name_[stream_index] + "_optical_frame";
+        prefix_ + camera_name_ + "_" + stream_name_[stream_index] + "_optical_frame";
     param_name = stream_name_[stream_index] + "_optical_frame_id";
     setAndGetNodeParameter(optical_frame_id_[stream_index], param_name, default_optical_frame_id);
     depth_aligned_frame_id_[stream_index] =
-        camera_name_ + "_" + stream_name_[COLOR] + "_optical_frame";
+        prefix_ + camera_name_ + "_" + stream_name_[COLOR] + "_optical_frame";
   }
 
   setAndGetNodeParameter(publish_tf_, "publish_tf", true);
@@ -1083,6 +1084,7 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter(trigger_out_enabled_, "trigger_out_enabled", false);
   setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "");
   setAndGetNodeParameter<std::string>(cloud_frame_id_, "cloud_frame_id", "");
+  cloud_frame_id_ = prefix_ + cloud_frame_id_;
   if (!depth_precision_str_.empty()) {
     depth_precision_ = depthPrecisionLevelFromString(depth_precision_str_);
   }
@@ -1380,32 +1382,32 @@ void OBCameraNode::setupPublishers() {
   if (enable_stream_[DEPTH] && enable_stream_[INFRA0]) {
     depth_to_other_extrinsics_publishers_[INFRA0] =
         node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
-            "/" + camera_name_ + "/depth_to_ir", extrinsics_qos);
+            "/" + prefix_ + camera_name_ + "/depth_to_ir", extrinsics_qos);
   }
   if (enable_stream_[DEPTH] && enable_stream_[COLOR]) {
     depth_to_other_extrinsics_publishers_[COLOR] =
         node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
-            "/" + camera_name_ + "/depth_to_color", extrinsics_qos);
+            "/" + prefix_ + camera_name_ + "/depth_to_color", extrinsics_qos);
   }
   if (enable_stream_[DEPTH] && enable_stream_[INFRA1]) {
     depth_to_other_extrinsics_publishers_[INFRA1] =
         node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
-            "/" + camera_name_ + "/depth_to_left_ir", extrinsics_qos);
+            "/" + prefix_ + camera_name_ + "/depth_to_left_ir", extrinsics_qos);
   }
   if (enable_stream_[DEPTH] && enable_stream_[INFRA2]) {
     depth_to_other_extrinsics_publishers_[INFRA2] =
         node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
-            "/" + camera_name_ + "/depth_to_right_ir", extrinsics_qos);
+            "/" + prefix_ + camera_name_ + "/depth_to_right_ir", extrinsics_qos);
   }
   if (enable_stream_[DEPTH] && enable_stream_[ACCEL]) {
     depth_to_other_extrinsics_publishers_[ACCEL] =
         node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
-            "/" + camera_name_ + "/depth_to_accel", extrinsics_qos);
+            "/" + prefix_ + camera_name_ + "/depth_to_accel", extrinsics_qos);
   }
   if (enable_stream_[DEPTH] && enable_stream_[GYRO]) {
     depth_to_other_extrinsics_publishers_[GYRO] =
         node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
-            "/" + camera_name_ + "/depth_to_gyro", extrinsics_qos);
+            "/" + prefix_ + camera_name_ + "/depth_to_gyro", extrinsics_qos);
   }
   filter_status_pub_ =
       node_->create_publisher<std_msgs::msg::String>("depth_filter_status", extrinsics_qos);
@@ -1510,7 +1512,8 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
   auto frame_timestamp = getFrameTimestampUs(depth_frame);
   auto timestamp = fromUsToROSTime(frame_timestamp);
   std::string frame_id = depth_registration_ ? optical_frame_id_[COLOR] : optical_frame_id_[DEPTH];
-  if (!cloud_frame_id_.empty()) {
+  std::string cloud_frame_id_no_prefix = cloud_frame_id_.substr(prefix_.length(), cloud_frame_id_.length());
+  if (!cloud_frame_id_no_prefix.empty()) {
     frame_id = cloud_frame_id_;
   }
   point_cloud_msg->header.stamp = timestamp;
@@ -2471,7 +2474,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
                     frame_id_[base_stream_]);
   }
   if (enable_stream_[DEPTH] && enable_stream_[COLOR]) {
-    static const char *frame_id = "depth_to_color_extrinsics";
+    std::string string_frame_id = prefix_ + camera_name_ + "_" + "depth_to_color_extrinsics";
+    static const char *frame_id = string_frame_id.c_str();
     OBExtrinsic ex;
     try {
       ex = base_stream_profile->getExtrinsicTo(stream_profile_[COLOR]);
@@ -2486,7 +2490,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
     depth_to_other_extrinsics_publishers_[COLOR]->publish(ex_msg);
   }
   if (enable_stream_[DEPTH] && enable_stream_[INFRA0]) {
-    static const char *frame_id = "depth_to_ir_extrinsics";
+    std::string string_frame_id = prefix_ + camera_name_ + "_" + "depth_to_ir_extrinsics";
+    static const char *frame_id = string_frame_id.c_str();
     OBExtrinsic ex;
     try {
       ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA0]);
@@ -2501,7 +2506,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
     depth_to_other_extrinsics_publishers_[INFRA0]->publish(ex_msg);
   }
   if (enable_stream_[DEPTH] && enable_stream_[INFRA1]) {
-    static const char *frame_id = "depth_to_left_ir_extrinsics";
+    std::string string_frame_id = prefix_ + camera_name_ + "_" + "depth_to_left_ir_extrinsics";
+    static const char *frame_id = string_frame_id.c_str();
     OBExtrinsic ex;
     try {
       ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA1]);
@@ -2516,7 +2522,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
     depth_to_other_extrinsics_publishers_[INFRA1]->publish(ex_msg);
   }
   if (enable_stream_[DEPTH] && enable_stream_[INFRA2]) {
-    static const char *frame_id = "depth_to_right_ir_extrinsics";
+    std::string string_frame_id = prefix_ + camera_name_ + "_" + "depth_to_right_ir_extrinsics";
+    static const char *frame_id = string_frame_id.c_str();
     OBExtrinsic ex;
     try {
       ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA2]);
@@ -2532,7 +2539,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
     depth_to_other_extrinsics_publishers_[INFRA2]->publish(ex_msg);
   }
   if (enable_stream_[DEPTH] && enable_stream_[ACCEL]) {
-    static const char *frame_id = "depth_to_accel_extrinsics";
+    std::string string_frame_id = prefix_ + camera_name_ + "_" + "depth_to_accel_extrinsics";
+    static const char *frame_id = string_frame_id.c_str();
     OBExtrinsic ex;
     try {
       ex = base_stream_profile->getExtrinsicTo(stream_profile_[ACCEL]);
@@ -2547,7 +2555,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
     depth_to_other_extrinsics_publishers_[ACCEL]->publish(ex_msg);
   }
   if (enable_stream_[DEPTH] && enable_stream_[GYRO]) {
-    static const char *frame_id = "depth_to_gyro_extrinsics";
+    std::string string_frame_id = prefix_ + camera_name_ + "_" + "depth_to_gyro_extrinsics";
+    static const char *frame_id = string_frame_id.c_str();
     OBExtrinsic ex;
     try {
       ex = base_stream_profile->getExtrinsicTo(stream_profile_[GYRO]);