diff --git a/turtlebot4_bringup/config/oakd_lite.yaml b/turtlebot4_bringup/config/oakd_lite.yaml
index 465d690..b6d4ebc 100644
--- a/turtlebot4_bringup/config/oakd_lite.yaml
+++ b/turtlebot4_bringup/config/oakd_lite.yaml
@@ -8,11 +8,12 @@
       i_usb_speed: SUPER_PLUS
     rgb:
       i_board_socket_id: 0
-      i_fps: 30.0
+      i_fps: 15.0
       i_height: 720
       i_interleaved: false
       i_max_q_size: 10
-      i_preview_size: 250
+      i_preview_width: 480
+      i_preview_height: 270
       i_enable_preview: true
       i_low_bandwidth: true
       i_keep_preview_aspect_ratio: true
@@ -20,3 +21,9 @@
       i_resolution: '1080'
       i_width: 1280
     use_sim_time: false
+    ffmpeg_image_transport:
+      qmax: 24
+      preset: ultrafast
+      tune: zerolatency
+      bit_rate: 800000
+      gop_size: 6
diff --git a/turtlebot4_bringup/config/oakd_pro.yaml b/turtlebot4_bringup/config/oakd_pro.yaml
index 563d099..6c84b2b 100644
--- a/turtlebot4_bringup/config/oakd_pro.yaml
+++ b/turtlebot4_bringup/config/oakd_pro.yaml
@@ -10,11 +10,12 @@
       i_usb_speed: SUPER_PLUS
     rgb:
       i_board_socket_id: 0
-      i_fps: 30.0
+      i_fps: 15.0
       i_height: 720
       i_interleaved: false
       i_max_q_size: 10
-      i_preview_size: 250
+      i_preview_width: 480
+      i_preview_height: 270
       i_enable_preview: true
       i_low_bandwidth: true
       i_keep_preview_aspect_ratio: true
@@ -22,3 +23,9 @@
       i_resolution: '1080'
       i_width: 1280
     use_sim_time: false
+    ffmpeg_image_transport:
+      qmax: 24
+      preset: ultrafast
+      tune: zerolatency
+      bit_rate: 800000
+      gop_size: 6
\ No newline at end of file
diff --git a/turtlebot4_bringup/package.xml b/turtlebot4_bringup/package.xml
index 5662515..4c7b9cb 100644
--- a/turtlebot4_bringup/package.xml
+++ b/turtlebot4_bringup/package.xml
@@ -17,6 +17,7 @@
   <depend>depthai_examples</depend>
   <depend>depthai_ros_driver</depend>
   <depend>depthai_ros_msgs</depend>
+  <depend>ffmpeg_image_transport</depend>
   <depend>joy_linux</depend>
   <depend>nav2_common</depend>
   <depend>teleop_twist_joy</depend>