diff --git a/src/rm_auto_aim/armor_yolo_detect/include/armor_yolo_detect/armor_yolo_detector_node.hpp b/src/rm_auto_aim/armor_yolo_detect/include/armor_yolo_detect/armor_yolo_detector_node.hpp
index c0eb9d8..892056d 100644
--- a/src/rm_auto_aim/armor_yolo_detect/include/armor_yolo_detect/armor_yolo_detector_node.hpp
+++ b/src/rm_auto_aim/armor_yolo_detect/include/armor_yolo_detect/armor_yolo_detector_node.hpp
@@ -168,9 +168,6 @@ private:
   double exposure_min_ = 600.0;
   double exposure_max_ = 2000.0;
   double auto_exposure_control_interval_ms_ = 100.0;
-  rclcpp::CallbackQueue::SharedPtr exposure_callback_queue_;
-  rclcpp::executors::SingleThreadedExecutor exposure_executor_;
-  std::thread exposure_executor_thread_;
   void autoExposureTimerCallback();
   double computeBrightnessInRois(const cv::Mat& gray_img, const std::vector<YoloObject>& yolo_objects);
   void callSetExposureService(double exposure_time);
diff --git a/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp b/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp
index 9f6aae3..50ddb40 100644
--- a/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp
+++ b/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp
@@ -188,10 +188,6 @@ ArmorYoloDetectorNode::~ArmorYoloDetectorNode() {
   if (image_processing_thread_.joinable()) {
     image_processing_thread_.join();
   }
-  if (exposure_executor_thread_.joinable()) {
-    exposure_executor_.cancel();
-    exposure_executor_thread_.join();
-  }
 }
 
 void ArmorYoloDetectorNode::imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr img_msg) {
@@ -431,15 +427,9 @@ std::unique_ptr<Detector> ArmorYoloDetectorNode::initDetector() {
   current_exposure_time_ = this->declare_parameter("auto_exposure.init_exposure_time", 5000.0);
 
   if (auto_exposure_enable_) {
-    exposure_callback_queue_ = std::make_shared<rclcpp::CallbackQueue>();
-    exposure_executor_.add_callback_queue(exposure_callback_queue_);
-    exposure_executor_thread_ = std::thread([this]() {
-      exposure_executor_.spin();
-    });
     auto_exposure_timer_ = this->create_wall_timer(
         std::chrono::milliseconds(static_cast<int>(auto_exposure_control_interval_ms_)),
-        [this]() { this->autoExposureTimerCallback(); },
-        exposure_callback_queue_);
+        [this]() { this->autoExposureTimerCallback(); });
     FYT_INFO("armor_yolo_detect", "Auto exposure enabled (target_brightness={}, interval={}ms)",
              target_brightness_, auto_exposure_control_interval_ms_);
   }
@@ -577,23 +567,12 @@ rcl_interfaces::msg::SetParametersResult ArmorYoloDetectorNode::onSetParameters(
       if (new_enable != auto_exposure_enable_) {
         auto_exposure_enable_ = new_enable;
         if (auto_exposure_enable_) {
-          exposure_callback_queue_ = std::make_shared<rclcpp::CallbackQueue>();
-          exposure_executor_.add_callback_queue(exposure_callback_queue_);
-          exposure_executor_thread_ = std::thread([this]() {
-            exposure_executor_.spin();
-          });
           auto_exposure_timer_ = this->create_wall_timer(
               std::chrono::milliseconds(static_cast<int>(auto_exposure_control_interval_ms_)),
-              [this]() { this->autoExposureTimerCallback(); },
-              exposure_callback_queue_);
+              [this]() { this->autoExposureTimerCallback(); });
           FYT_INFO("armor_yolo_detect", "Auto exposure enabled");
         } else {
           auto_exposure_timer_.reset();
-          exposure_callback_queue_.reset();
-          if (exposure_executor_thread_.joinable()) {
-            exposure_executor_.cancel();
-            exposure_executor_thread_.join();
-          }
           FYT_INFO("armor_yolo_detect", "Auto exposure disabled");
         }
       }
@@ -615,8 +594,7 @@ rcl_interfaces::msg::SetParametersResult ArmorYoloDetectorNode::onSetParameters(
         auto_exposure_timer_->cancel();
         auto_exposure_timer_ = this->create_wall_timer(
             std::chrono::milliseconds(static_cast<int>(auto_exposure_control_interval_ms_)),
-            [this]() { this->autoExposureTimerCallback(); },
-            exposure_callback_queue_);
+            [this]() { this->autoExposureTimerCallback(); });
       }
     } else if (param.get_name() == "auto_exposure.init_exposure_time") {
       current_exposure_time_ = param.as_double();