diff --git a/install/ros_viz_adapter/lib/ros_viz_adapter/adapter b/install/ros_viz_adapter/lib/ros_viz_adapter/adapter
index 42c1888..261fe63 100755
Binary files a/install/ros_viz_adapter/lib/ros_viz_adapter/adapter and b/install/ros_viz_adapter/lib/ros_viz_adapter/adapter differ
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/README.md b/install/ros_viz_adapter/share/ros_viz_adapter/README.md
index bcf981e..a0ccec9 100644
--- a/install/ros_viz_adapter/share/ros_viz_adapter/README.md
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/README.md
@@ -24,6 +24,16 @@ colcon build --packages-select ros_viz_adapter --symlink-install
 ros2 launch ros_viz_adapter adapter.launch.py
 ```
 
+点云可视化示例：
+
+```bash
+ros2 launch ros_viz_adapter adapter.launch.py \
+  input_fps_limit:=10 \
+  output_fps:=5 \
+  voxel_size_m:=0.10 \
+  max_points:=50000
+```
+
 参数：
 
 ```text
@@ -35,6 +45,13 @@ voxel_size_m          默认 0.05
 max_points            默认 100000
 ```
 
+调参规律：
+input_fps_limit 越低，适配器接收和处理次数越少；
+output_fps 越低，平台网络和渲染负载越低；
+voxel_size_m 越大，点越少、处理越快，但细节损失越明显，=0 可以关闭体素降采样，但通常不建议这么做；
+max_points 越小，输出消息越小，但点云显示更稀疏；
+input_fps_limit:=0 或 output_fps:=0 表示不限制频率。
+
 QoS 为 `BEST_EFFORT + KEEP_LAST + depth=1`。限频降低的是适配器处理、网络和
 平台负载；如果还要降低源容器 CPU，应同时调整相机/上游发布频率。
 
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/launch/adapter.launch.py b/install/ros_viz_adapter/share/ros_viz_adapter/launch/adapter.launch.py
index f822e51..d331c52 100644
--- a/install/ros_viz_adapter/share/ros_viz_adapter/launch/adapter.launch.py
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/launch/adapter.launch.py
@@ -7,11 +7,19 @@ from launch_ros.actions import Node
 def generate_launch_description():
     return LaunchDescription([
         DeclareLaunchArgument('output_namespace', default_value='/viz'),
+        DeclareLaunchArgument('input_fps_limit', default_value='30.0'),
+        DeclareLaunchArgument('output_fps', default_value='10.0'),
+        DeclareLaunchArgument('voxel_size_m', default_value='0.05'),
+        DeclareLaunchArgument('max_points', default_value='100000'),
         Node(
             package='ros_viz_adapter', executable='adapter',
             name='ros_viz_adapter', output='screen',
             parameters=[{
                 'output_namespace': LaunchConfiguration('output_namespace'),
+                'input_fps_limit': LaunchConfiguration('input_fps_limit'),
+                'output_fps': LaunchConfiguration('output_fps'),
+                'voxel_size_m': LaunchConfiguration('voxel_size_m'),
+                'max_points': LaunchConfiguration('max_points'),
             }],
         ),
     ])
diff --git a/src/ros_viz_adapter/README.md b/src/ros_viz_adapter/README.md
index 1046d1d..a0ccec9 100644
--- a/src/ros_viz_adapter/README.md
+++ b/src/ros_viz_adapter/README.md
@@ -45,6 +45,13 @@ voxel_size_m          默认 0.05
 max_points            默认 100000
 ```
 
+调参规律：
+input_fps_limit 越低，适配器接收和处理次数越少；
+output_fps 越低，平台网络和渲染负载越低；
+voxel_size_m 越大，点越少、处理越快，但细节损失越明显，=0 可以关闭体素降采样，但通常不建议这么做；
+max_points 越小，输出消息越小，但点云显示更稀疏；
+input_fps_limit:=0 或 output_fps:=0 表示不限制频率。
+
 QoS 为 `BEST_EFFORT + KEEP_LAST + depth=1`。限频降低的是适配器处理、网络和
 平台负载；如果还要降低源容器 CPU，应同时调整相机/上游发布频率。