diff --git a/livox_ros_driver/livox_ros_driver/lddc.cpp b/livox_ros_driver/livox_ros_driver/lddc.cpp
index 7890d28..14971f8 100644
--- a/livox_ros_driver/livox_ros_driver/lddc.cpp
+++ b/livox_ros_driver/livox_ros_driver/lddc.cpp
@@ -476,7 +476,7 @@ void Lddc::PollingLidarPointCloudData(uint8_t handle, LidarDevice *lidar) {
   while (!QueueIsEmpty(p_queue)) {
     uint32_t used_size = QueueUsedSize(p_queue);
     uint32_t onetime_publish_packets =
-        GetPacketNumPerSec(lidar->info.type) / publish_frq_;
+        GetPacketNumPerSec(lidar->pointcloud_data_type) / publish_frq_;
     if (used_size < onetime_publish_packets) {
       break;
     }
diff --git a/livox_ros_driver/livox_ros_driver/lds.h b/livox_ros_driver/livox_ros_driver/lds.h
index 0be22d2..198bf3e 100644
--- a/livox_ros_driver/livox_ros_driver/lds.h
+++ b/livox_ros_driver/livox_ros_driver/lds.h
@@ -169,6 +169,7 @@ typedef struct {
   bool data_is_pubulished; /**< Indicate the data of lidar whether is
                               pubulished. */
   volatile LidarConnectState connect_state;
+  uint8_t pointcloud_data_type;
   DeviceInfo info;
   LidarPacketStatistic statistic_info;
   LidarDataQueue data;
@@ -220,7 +221,7 @@ const PacketInfoPair packet_info_pair_table[kMaxPointDataType] = {
     {100, 100000, 10000, 1000000, 1318}, {100, 100000, 10000, 1000000, 918},
     {96, 240000, 4167, 400000, 1362},    {96, 240000, 4167, 400000, 978},
     {96, 480000, 4167, 400000, 1362},    {48, 480000, 4167, 400000, 978},
-    {1, 100, 10000000, 10000000, 42}};
+    {1, 200, 10000000, 10000000, 42}};
 
 /**
  * Global function for general use.
diff --git a/livox_ros_driver/livox_ros_driver/lds_hub.cpp b/livox_ros_driver/livox_ros_driver/lds_hub.cpp
index d6894f0..7bda0fc 100644
--- a/livox_ros_driver/livox_ros_driver/lds_hub.cpp
+++ b/livox_ros_driver/livox_ros_driver/lds_hub.cpp
@@ -162,6 +162,10 @@ void LdsHub::OnHubDataCb(uint8_t hub_handle, LivoxEthPacket *data,
          sizeof(cur_timestamp));
 
   if (kImu != eth_packet->data_type) {
+    if (p_lidar->pointcloud_data_type != eth_packet->data_type) {
+      p_lidar->pointcloud_data_type = eth_packet->data_type;
+    }
+    
     if (eth_packet->timestamp_type == kTimestampTypePps) {
       /** Whether a new sync frame */
       if ((cur_timestamp.stamp < packet_statistic->last_timestamp) &&
@@ -210,7 +214,7 @@ void LdsHub::OnHubDataCb(uint8_t hub_handle, LivoxEthPacket *data,
              p_lidar->info.broadcast_code, queue_size, p_queue->size);
     }
 
-    if (!QueueIsFull(p_queue) && (cur_timestamp.stamp >= 0)) {
+    if (!QueueIsFull(p_queue)) {
       QueuePushAny(p_queue, (uint8_t *)eth_packet,
                    GetEthPacketLen(eth_packet->data_type),
                    packet_statistic->imu_timebase,
diff --git a/livox_ros_driver/livox_ros_driver/lds_lidar.cpp b/livox_ros_driver/livox_ros_driver/lds_lidar.cpp
index 5350a08..2c35b8f 100644
--- a/livox_ros_driver/livox_ros_driver/lds_lidar.cpp
+++ b/livox_ros_driver/livox_ros_driver/lds_lidar.cpp
@@ -175,6 +175,10 @@ void LdsLidar::OnLidarDataCb(uint8_t handle, LivoxEthPacket *data,
          sizeof(cur_timestamp));
 
   if (kImu != eth_packet->data_type) {
+    if (p_lidar->pointcloud_data_type != eth_packet->data_type) {
+      p_lidar->pointcloud_data_type = eth_packet->data_type;
+    }
+    
     if (eth_packet->timestamp_type == kTimestampTypePps) {
       if ((cur_timestamp.stamp < packet_statistic->last_timestamp) &&
           (cur_timestamp.stamp < kPacketTimeGap)) { // whether a new sync frame
@@ -225,7 +229,7 @@ void LdsLidar::OnLidarDataCb(uint8_t handle, LivoxEthPacket *data,
              p_lidar->info.broadcast_code, queue_size, p_queue->size);
     }
 
-    if (!QueueIsFull(p_queue) && (cur_timestamp.stamp >= 0)) {
+    if (!QueueIsFull(p_queue)) {
       QueuePushAny(p_queue, (uint8_t *)eth_packet,
                    GetEthPacketLen(eth_packet->data_type),
                    packet_statistic->timebase,