diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/config/process/process_config.yaml b/wrappers/ros/src/mynt_eye_ros_wrapper/config/process/process_config.yaml
index 4a2514f..bc98853 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/config/process/process_config.yaml
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/config/process/process_config.yaml
@@ -3,6 +3,10 @@
 # bm: 1
 disparity_computing_method: 1
 
+# standard2/imu_process_mode range: [0,3]
+# 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
+imu_process_mode: 0
+
 enable_left_rect: false
 enable_right_rect: false
 enable_disparity: false
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index c348f3c..09a9b5b 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -34,7 +34,6 @@
   <arg name="gravity" default="9.8" />
 
   <arg name="mesh_file" default="S1030-0315.obj" />
-
   <!-- Push down all topics/nodelets into "mynteye" namespace -->
   <group ns="$(arg mynteye)">
 
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index 94ab231..c6d96ce 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -1076,7 +1076,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     model_ = api_->GetModel();
     if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
       private_nh_.getParam("standard2/request_index", request_index);
-      std::cout << request_index << std::endl;
       switch (request_index) {
         case 0:
         case 4:
@@ -1100,6 +1099,13 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);
     }
 
+    std::int32_t process_mode = 0;
+    if (model_ == Model::STANDARD2 ||
+        model_ == Model::STANDARD210A) {
+      private_nh_.getParam("standard2/imu_process_mode", process_mode);
+      api_->EnableProcessMode(process_mode);
+    }
+
     NODELET_FATAL_COND(m <= 0, "No MYNT EYE devices :(");
     if (m <= 1) {
       NODELET_INFO_STREAM("Only one stream request, select index: 0");