diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index 13669378..4ae8dcd4 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -992,7 +992,7 @@ void OBCameraNode::setupDepthPostProcessFilter() {
     }
   }
   set_filter_srv_ = node_->create_service<SetFilter>(
-      "set_filter", [this](const std::shared_ptr<SetFilter ::Request> request,
+      camera_name_ + "/set_filter", [this](const std::shared_ptr<SetFilter ::Request> request,
                            std::shared_ptr<SetFilter ::Response> response) {
         setFilterCallback(request, response);
       });
@@ -1545,8 +1545,8 @@ void OBCameraNode::getParameters() {
     setAndGetNodeParameter<bool>(mirror_stream_[stream_index], param_name, false);
     param_name = stream_name_[stream_index] + "_rotation";
     setAndGetNodeParameter<int>(rotation_stream_[stream_index], param_name, -1);
-    param_name = namespace_ + camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
-    std::string default_frame_id = camera_name_ + "_" + stream_name_[stream_index] + "_frame";
+    param_name = stream_name_[stream_index] + "_frame_id";
+    std::string default_frame_id = namespace_ + camera_name_ + "_" + stream_name_[stream_index] + "_frame";
     setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);
     std::string default_optical_frame_id =
         namespace_ + camera_name_ + "_" + stream_name_[stream_index] + "_optical_frame";
@@ -1582,7 +1582,7 @@ void OBCameraNode::getParameters() {
     setAndGetNodeParameter<std::string>(imu_rate_[stream_index], param_name, "");
     param_name = stream_name_[stream_index] + "_range";
     setAndGetNodeParameter<std::string>(imu_range_[stream_index], param_name, "");
-    param_name = namespace_ + camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
+    param_name = stream_name_[stream_index] + "_frame_id";
     std::string default_frame_id = namespace_ + camera_name_ + "_" + stream_name_[stream_index] + "_frame";
     setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);
     std::string default_optical_frame_id =
diff --git a/orbbec_camera/src/ob_camera_node_driver.cpp b/orbbec_camera/src/ob_camera_node_driver.cpp
index bb1565b4..c168d220 100644
--- a/orbbec_camera/src/ob_camera_node_driver.cpp
+++ b/orbbec_camera/src/ob_camera_node_driver.cpp
@@ -150,7 +150,7 @@ void OBCameraNodeDriver::init() {
     return;
   }
   reboot_device_srv_ = this->create_service<std_srvs::srv::Empty>(
-      "reboot_device", std::bind(&OBCameraNodeDriver::rebootDeviceCallback, this,
+      g_camera_name + "/reboot_device", std::bind(&OBCameraNodeDriver::rebootDeviceCallback, this,
                                  std::placeholders::_1, std::placeholders::_2));
   pthread_mutexattr_init(&orb_device_lock_attr_);
   pthread_mutexattr_setpshared(&orb_device_lock_attr_, PTHREAD_PROCESS_SHARED);