diff --git a/realsense2_camera/launch/rs_camera.launch b/realsense2_camera/launch/rs_camera.launch
index c85dd1ce48..4acdcd17f8 100644
--- a/realsense2_camera/launch/rs_camera.launch
+++ b/realsense2_camera/launch/rs_camera.launch
@@ -9,36 +9,36 @@
   <arg name="manager"             default="realsense2_camera_manager"/>
   <arg name="output"              default="screen"/>
 
-  <arg name="fisheye_width"       default="640"/>
-  <arg name="fisheye_height"      default="480"/>
+  <arg name="fisheye_width"       default="-1"/>
+  <arg name="fisheye_height"      default="-1"/>
   <arg name="enable_fisheye"      default="false"/>
 
-  <arg name="depth_width"         default="640"/>
-  <arg name="depth_height"        default="480"/>
+  <arg name="depth_width"         default="-1"/>
+  <arg name="depth_height"        default="-1"/>
   <arg name="enable_depth"        default="true"/>
 
-  <arg name="confidence_width"    default="640"/>
-  <arg name="confidence_height"   default="480"/>
+  <arg name="confidence_width"    default="-1"/>
+  <arg name="confidence_height"   default="-1"/>
   <arg name="enable_confidence"   default="true"/>
-  <arg name="confidence_fps"      default="30"/>
+  <arg name="confidence_fps"      default="-1"/>
 
-  <arg name="infra_width"         default="640"/>
-  <arg name="infra_height"        default="480"/>
+  <arg name="infra_width"         default="-1"/>
+  <arg name="infra_height"        default="-1"/>
   <arg name="enable_infra"        default="false"/>
   <arg name="enable_infra1"       default="false"/>
   <arg name="enable_infra2"       default="false"/>
   <arg name="infra_rgb"           default="false"/>
 
-  <arg name="color_width"         default="640"/>
-  <arg name="color_height"        default="480"/>
+  <arg name="color_width"         default="-1"/>
+  <arg name="color_height"        default="-1"/>
   <arg name="enable_color"        default="true"/>
 
-  <arg name="fisheye_fps"         default="30"/>
-  <arg name="depth_fps"           default="30"/>
-  <arg name="infra_fps"           default="30"/>
-  <arg name="color_fps"           default="30"/>
-  <arg name="gyro_fps"            default="400"/>
-  <arg name="accel_fps"           default="250"/>
+  <arg name="fisheye_fps"         default="-1"/>
+  <arg name="depth_fps"           default="-1"/>
+  <arg name="infra_fps"           default="-1"/>
+  <arg name="color_fps"           default="-1"/>
+  <arg name="gyro_fps"            default="-1"/>
+  <arg name="accel_fps"           default="-1"/>
   <arg name="enable_gyro"         default="false"/>
   <arg name="enable_accel"        default="false"/>
 
diff --git a/realsense2_camera/launch/rs_rgbd.launch b/realsense2_camera/launch/rs_rgbd.launch
index 3232b43d21..94e97670ad 100644
--- a/realsense2_camera/launch/rs_rgbd.launch
+++ b/realsense2_camera/launch/rs_rgbd.launch
@@ -52,29 +52,29 @@ Processing enabled by this node:
   <arg name="device_type"         default=""/>
   <arg name="json_file_path"      default=""/>
 
-  <arg name="fisheye_width"       default="640"/>
-  <arg name="fisheye_height"      default="480"/>
+  <arg name="fisheye_width"       default="-1"/>
+  <arg name="fisheye_height"      default="-1"/>
   <arg name="enable_fisheye"      default="false"/>
 
-  <arg name="depth_width"         default="640"/>
-  <arg name="depth_height"        default="480"/>
+  <arg name="depth_width"         default="-1"/>
+  <arg name="depth_height"        default="-1"/>
   <arg name="enable_depth"        default="true"/>
 
-  <arg name="infra_width"         default="640"/>
-  <arg name="infra_height"        default="480"/>
+  <arg name="infra_width"         default="-1"/>
+  <arg name="infra_height"        default="-1"/>
   <arg name="enable_infra1"       default="false"/>
   <arg name="enable_infra2"       default="false"/>
 
-  <arg name="color_width"         default="640"/>
-  <arg name="color_height"        default="480"/>
+  <arg name="color_width"         default="-1"/>
+  <arg name="color_height"        default="-1"/>
   <arg name="enable_color"        default="true"/>
 
-  <arg name="fisheye_fps"         default="30"/>
-  <arg name="depth_fps"           default="30"/>
-  <arg name="infra_fps"           default="30"/>
-  <arg name="color_fps"           default="30"/>
-  <arg name="gyro_fps"            default="400"/>
-  <arg name="accel_fps"           default="250"/>
+  <arg name="fisheye_fps"         default="-1"/>
+  <arg name="depth_fps"           default="-1"/>
+  <arg name="infra_fps"           default="-1"/>
+  <arg name="color_fps"           default="-1"/>
+  <arg name="gyro_fps"            default="-1"/>
+  <arg name="accel_fps"           default="-1"/>
   <arg name="enable_gyro"         default="false"/>
   <arg name="enable_accel"        default="false"/>
 
diff --git a/realsense2_camera/launch/rs_t265.launch b/realsense2_camera/launch/rs_t265.launch
index 9ab3073e33..1c2e9a57ca 100644
--- a/realsense2_camera/launch/rs_t265.launch
+++ b/realsense2_camera/launch/rs_t265.launch
@@ -12,15 +12,15 @@ https://github.com/IntelRealSense/librealsense/blob/master/third-party/libtm/lib
   <arg name="camera"              default="camera"/>
   <arg name="tf_prefix"           default="$(arg camera)"/>
 
-  <arg name="fisheye_width"       default="848"/> 
-  <arg name="fisheye_height"      default="800"/>
+  <arg name="fisheye_width"       default="-1"/> 
+  <arg name="fisheye_height"      default="-1"/>
   <arg name="enable_fisheye1"     default="false"/>
   <arg name="enable_fisheye2"     default="false"/>
 
-  <arg name="fisheye_fps"         default="30"/>
+  <arg name="fisheye_fps"         default="-1"/>
 
-  <arg name="gyro_fps"            default="200"/>
-  <arg name="accel_fps"           default="62"/>
+  <arg name="gyro_fps"            default="-1"/>
+  <arg name="accel_fps"           default="-1"/>
   <arg name="enable_gyro"         default="true"/>
   <arg name="enable_accel"        default="true"/>
   <arg name="enable_pose"         default="true"/>
diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
index 54533f42db..6fe176d0cb 100644
--- a/realsense2_camera/src/base_realsense_node.cpp
+++ b/realsense2_camera/src/base_realsense_node.cpp
@@ -1006,6 +1006,7 @@ void BaseRealSenseNode::enable_devices()
         {
             auto& sens = _sensors[elem];
             auto profiles = sens.get_stream_profiles();
+            rs2::stream_profile default_profile, selected_profile;
             for (auto& profile : profiles)
             {
                 auto video_profile = profile.as<rs2::video_stream_profile>();
@@ -1016,34 +1017,51 @@ void BaseRealSenseNode::enable_devices()
                                     ", Height: " << video_profile.height() <<
                                     ", FPS: " << video_profile.fps());
 
-                if ((video_profile.stream_type() == elem.first) &&
-                    (_width[elem] == 0 || video_profile.width() == _width[elem]) &&
-                    (_height[elem] == 0 || video_profile.height() == _height[elem]) &&
-                    (_fps[elem] == 0 || video_profile.fps() == _fps[elem]) &&
-                    (_format.find(elem.first) == _format.end() || video_profile.format() == _format[elem.first] ) &&
-                    video_profile.stream_index() == elem.second)
+                if (profile.stream_type() == elem.first)
                 {
-                    _width[elem] = video_profile.width();
-                    _height[elem] = video_profile.height();
-                    _fps[elem] = video_profile.fps();
-
-                    _enabled_profiles[elem].push_back(profile);
-
-                    _image[elem] = cv::Mat(_height[elem], _width[elem], _image_format[elem.first], cv::Scalar(0, 0, 0));
-
-                    ROS_INFO_STREAM(STREAM_NAME(elem) << " stream is enabled - width: " << _width[elem] << ", height: " << _height[elem] << ", fps: " << _fps[elem] << ", " << "Format: " << video_profile.format());
-                    break;
+                    if (profile.is_default())
+                    {
+                        default_profile = profile;
+                    }
+                    if ((_width[elem] == 0 || video_profile.width() == _width[elem]) &&
+                        (_height[elem] == 0 || video_profile.height() == _height[elem]) &&
+                        (_fps[elem] == 0 || video_profile.fps() == _fps[elem]) &&
+                        (_format.find(elem.first) == _format.end() || video_profile.format() == _format[elem.first] ) &&
+                        video_profile.stream_index() == elem.second)
+                    {
+                        selected_profile = profile;
+                        break;
+                    }
                 }
+
             }
-            if (_enabled_profiles.find(elem) == _enabled_profiles.end())
+            if (!selected_profile)
             {
-                ROS_WARN_STREAM("Given stream configuration is not supported by the device! " <<
+                ROS_WARN_STREAM_COND((_width[elem]!=-1 && _height[elem]!=-1 && _fps[elem]!=-1), "Given stream configuration is not supported by the device! " <<
                     " Stream: " << rs2_stream_to_string(elem.first) <<
                     ", Stream Index: " << elem.second <<
                     ", Width: " << _width[elem] <<
                     ", Height: " << _height[elem] <<
                     ", FPS: " << _fps[elem] << 
                     ", Format: " << ((_format.find(elem.first) == _format.end())? "None":rs2_format_to_string(rs2_format(_format[elem.first]))));
+                if (default_profile)
+                {
+                    ROS_WARN_STREAM_COND((_width[elem]!=-1 && _height[elem]!=-1 && _fps[elem]!=-1), "Using default profile instead.");
+                    selected_profile = default_profile;
+                }
+            }
+            if (selected_profile)
+            {
+                auto video_profile = selected_profile.as<rs2::video_stream_profile>();
+                _width[elem] = video_profile.width();
+                _height[elem] = video_profile.height();
+                _fps[elem] = video_profile.fps();
+                _enabled_profiles[elem].push_back(selected_profile);
+                _image[elem] = cv::Mat(_height[elem], _width[elem], _image_format[elem.first], cv::Scalar(0, 0, 0));
+                ROS_INFO_STREAM(STREAM_NAME(elem) << " stream is enabled - width: " << _width[elem] << ", height: " << _height[elem] << ", fps: " << _fps[elem] << ", " << "Format: " << video_profile.format());
+            }
+            else
+            {
                 _enable[elem] = false;
             }
         }
@@ -1064,6 +1082,7 @@ void BaseRealSenseNode::enable_devices()
         {
             auto& sens = _sensors[elem];
             auto profiles = sens.get_stream_profiles();
+            rs2::stream_profile default_profile, selected_profile;
             ROS_DEBUG_STREAM("Available profiles:");
             for (rs2::stream_profile& profile : profiles)
             {
@@ -1072,24 +1091,35 @@ void BaseRealSenseNode::enable_devices()
             }
             for (rs2::stream_profile& profile : profiles)
             {
-                if (profile.stream_type() == elem.first &&
-                   (_fps[elem] == 0 || profile.fps() == _fps[elem]))
+                if (profile.stream_type() == elem.first)
                 {
-                    _fps[elem] = profile.fps();
-                    _enabled_profiles[elem].push_back(profile);
-                    break;
+                    if (profile.is_default())
+                        default_profile = profile;
+                    if (_fps[elem] == 0 || profile.fps() == _fps[elem])
+                    {
+                        selected_profile = profile;
+                        break;
+                    }
                 }
             }
-            if (_enabled_profiles.find(elem) == _enabled_profiles.end())
+            if (!selected_profile)
             {
                 std::string stream_name(STREAM_NAME(elem));
-                ROS_WARN_STREAM("No mathcing profile found for " << stream_name << " with fps=" << _fps[elem]);
-                ROS_WARN_STREAM("profiles found for " <<stream_name << ":");
-                for (rs2::stream_profile& profile : profiles)
+                ROS_WARN_STREAM_COND((_fps[elem]!=-1), "No mathcing profile found for " << stream_name << " with fps=" << _fps[elem]);
+                if (default_profile)
                 {
-                    if (profile.stream_type() != elem.first) continue;
-                    ROS_WARN_STREAM("fps: " << profile.fps() << ". format: " << profile.format());
+                    ROS_WARN_STREAM_COND((_fps[elem]!=-1), "Using default profile instead.");
+                    selected_profile = default_profile;
                 }
+            }
+            if(selected_profile)
+            {
+                _fps[elem] = selected_profile.fps();
+                _enabled_profiles[elem].push_back(selected_profile);
+                ROS_INFO_STREAM(STREAM_NAME(elem) << " stream is enabled - fps: " << _fps[elem]);
+            }
+            else
+            {
                 _enable[elem] = false;
             }
         }