diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index 883d72f..93fcf73 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -64,6 +64,7 @@
 #include "jpeg_decoder.h"
 #include <std_msgs/msg/string.hpp>
 #include <fcntl.h>
+#include <unistd.h>
 
 #if defined(ROS_JAZZY) || defined(ROS_IRON)
 #include <cv_bridge/cv_bridge.hpp>
@@ -133,8 +134,8 @@ const std::map<OBStreamType, OBFrameType> STREAM_TYPE_TO_FRAME_TYPE = {
 };
 
 typedef struct {
-    uint8_t  mode;
-    uint16_t fps;
+  uint8_t mode;
+  uint16_t fps;
 } cs_param_t;
 
 class OBCameraNode {
diff --git a/orbbec_camera/tools/metadata_export_files.hpp b/orbbec_camera/tools/metadata_export_files.hpp
index e94c32b..6a3da51 100644
--- a/orbbec_camera/tools/metadata_export_files.hpp
+++ b/orbbec_camera/tools/metadata_export_files.hpp
@@ -67,7 +67,9 @@ class MetadataExportFiles : public rclcpp::Node {
   }
 
   void load_parameters() {
-    std::ifstream file("install/orbbec_camera/share/orbbec_camera/config/metadataexport/metadata_export_params.json");
+    std::ifstream file(
+        "install/orbbec_camera/share/orbbec_camera/config/metadataexport/"
+        "metadata_export_params.json");
     if (!file.is_open()) {
       RCLCPP_ERROR(this->get_logger(), "Failed to open JSON file.");
       return;
@@ -106,8 +108,7 @@ class MetadataExportFiles : public rclcpp::Node {
 
     left_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
         MySyncPolicy(10), *left_ir_image_sub_, *left_ir_metadata_sub_);
-    left_ir_sync_->setMaxIntervalDuration(
-        rclcpp::Duration::from_nanoseconds(100000000LL));  // 100 ms
+    left_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000));  // 100 ms
 
     left_ir_sync_->registerCallback(
         std::bind(&MetadataExportFiles::left_ir_metadata_sync_callback, this, _1, _2));
@@ -120,8 +121,7 @@ class MetadataExportFiles : public rclcpp::Node {
 
     right_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
         MySyncPolicy(10), *right_ir_image_sub_, *right_ir_metadata_sub_);
-    right_ir_sync_->setMaxIntervalDuration(
-        rclcpp::Duration::from_nanoseconds(100000000LL));  // 100 ms
+    right_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000));  // 100 ms
 
     right_ir_sync_->registerCallback(
         std::bind(&MetadataExportFiles::right_ir_metadata_sync_callback, this, _1, _2));
@@ -134,7 +134,7 @@ class MetadataExportFiles : public rclcpp::Node {
 
     depth_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
         MySyncPolicy(10), *depth_image_sub_, *depth_metadata_sub_);
-    depth_sync_->setMaxIntervalDuration(rclcpp::Duration::from_nanoseconds(100000000LL));  // 100 ms
+    depth_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000));  // 100 ms
 
     depth_sync_->registerCallback(
         std::bind(&MetadataExportFiles::depth_metadata_sync_callback, this, _1, _2));
@@ -147,7 +147,7 @@ class MetadataExportFiles : public rclcpp::Node {
 
     color_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
         MySyncPolicy(10), *color_image_sub_, *color_metadata_sub_);
-    color_sync_->setMaxIntervalDuration(rclcpp::Duration::from_nanoseconds(100000000LL));  // 100 ms
+    color_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000));  // 100 ms
 
     color_sync_->registerCallback(
         std::bind(&MetadataExportFiles::color_metadata_sync_callback, this, _1, _2));
@@ -380,9 +380,10 @@ class MetadataExportFiles : public rclcpp::Node {
     }
 
     std::ostringstream ss;
-    ss << serial_path << "/" << std::to_string(frame_index) << "_" << "0000" << "_"
-       << camera_timestamp_us << "_" << timestamp_us.str() << "_" << prefix << "_" << resolution
-       << ".png";
+    ss << serial_path << "/" << std::to_string(frame_index) << "_"
+       << "0000"
+       << "_" << camera_timestamp_us << "_" << timestamp_us.str() << "_" << prefix << "_"
+       << resolution << ".png";
     cv::imwrite(ss.str(), cv_ptr->image);
   }
   void save_metadata_to_file(const ImageMetadata &metadata, const std::string &prefix) {
diff --git a/orbbec_camera/tools/metadata_save_files.hpp b/orbbec_camera/tools/metadata_save_files.hpp
index 4d4861a..73b7aa0 100644
--- a/orbbec_camera/tools/metadata_save_files.hpp
+++ b/orbbec_camera/tools/metadata_save_files.hpp
@@ -133,8 +133,7 @@ class MetadataSaveFiles : public rclcpp::Node {
 
     left_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
         MySyncPolicy(10), *left_ir_image_sub_, *left_ir_metadata_sub_);
-    left_ir_sync_->setMaxIntervalDuration(
-        rclcpp::Duration::from_nanoseconds(100000000LL));  // 100 ms
+    left_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000));  // 100 ms
 
     left_ir_sync_->registerCallback(
         std::bind(&MetadataSaveFiles::left_ir_metadata_sync_callback, this, _1, _2));
@@ -147,8 +146,7 @@ class MetadataSaveFiles : public rclcpp::Node {
 
     right_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
         MySyncPolicy(10), *right_ir_image_sub_, *right_ir_metadata_sub_);
-    right_ir_sync_->setMaxIntervalDuration(
-        rclcpp::Duration::from_nanoseconds(100000000LL));  // 100 ms
+    right_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000));  // 100 ms
 
     right_ir_sync_->registerCallback(
         std::bind(&MetadataSaveFiles::right_ir_metadata_sync_callback, this, _1, _2));
@@ -161,7 +159,7 @@ class MetadataSaveFiles : public rclcpp::Node {
 
     depth_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
         MySyncPolicy(10), *depth_image_sub_, *depth_metadata_sub_);
-    depth_sync_->setMaxIntervalDuration(rclcpp::Duration::from_nanoseconds(100000000LL));  // 100 ms
+    depth_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000));  // 100 ms
 
     depth_sync_->registerCallback(
         std::bind(&MetadataSaveFiles::depth_metadata_sync_callback, this, _1, _2));