diff --git a/calibration/camera.yaml b/calibration/default_camera.yaml
similarity index 100%
rename from calibration/camera.yaml
rename to calibration/default_camera.yaml
diff --git a/cfg/FirewireCameraDriver.cfg b/cfg/FirewireCameraDriver.cfg
index 376630630f3170a301c06f0a96a39a01cf02ea97..70e720df0b524f1cdce596759f020414f98b3d64 100755
--- a/cfg/FirewireCameraDriver.cfg
+++ b/cfg/FirewireCameraDriver.cfg
@@ -53,6 +53,7 @@ enum_color_coding = gen.enum([  gen.const("MONO8",  int_t, 0, "Mono coding with
                                 "Available color modes")
 
 #       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
+gen.add("camera_name",             str_t,     SensorLevels.RECONFIGURE_STOP,   "Camera name",                    "firewire_camera")
 gen.add("frame_id",                str_t,     SensorLevels.RECONFIGURE_STOP,   "Camera frame identifier",        "camera_frame")
 gen.add("Camera_node",             int_t,     SensorLevels.RECONFIGURE_STOP,   "Desired camera id",              -1,       -1 ,  100)
 gen.add("Camera_serial",           str_t,     SensorLevels.RECONFIGURE_STOP,   "Desired camera serial number",   "")
diff --git a/config/flea_params.yaml b/config/default_camera.yaml
similarity index 62%
rename from config/flea_params.yaml
rename to config/default_camera.yaml
index 1b9f36464798da61d3ccd15eb752063235b54d45..d77992902fc469c2a7efade89765939966fd6c89 100644
--- a/config/flea_params.yaml
+++ b/config/default_camera.yaml
@@ -1,13 +1,14 @@
-tf_prefix:               "robot"
-frame_id:                "camera_frame"
-Camera_node:             0
+tf_prefix:               robot
+camera_name:             firewire_camera
+frame_id:                camera_frame
+Camera_node:             0  #-1=use serial, 0,1,2...=use camera
 Camera_serial:           ""
 
   #known serials
-  #flea:           00b09d0100a96262
-  #flea2:          00b09d01006cf72a
+  #FLEA2-R:        00b09d0100a96262
+  #FLEA2-L:        00b09d01006cf72a
   #bumblebee dabo: 0814438300001f9c
-  #bumblebee tibi: 
+  #bumblebee tibi: ????????????????
 
 ISO_speed:               400
 Image_width:             1024
@@ -15,7 +16,7 @@ Image_height:            768
 Left_offset:             0
 Top_offset:              0
 Framerate:               7.5
-Color_coding:            3     # 0=MONO8, 1=YUV8, 2=YUV16, 3=RGB24, 4=MONO16, 5=RGB48, 6=RAW8, 7=RAW16
+Color_coding:            6     # 0=MONO8, 1=YUV8, 2=YUV16, 3=RGB24, 4=MONO16, 5=RGB48, 6=RAW8, 7=RAW16
 White_balance_enabled:   true
 White_balance_mode:      0     # 0=Auto, 1=Manual
 White_balance_u_b_value: 0
@@ -25,4 +26,4 @@ Shutter_mode:            0     # 0=Auto, 1=Manual
 Shutter_value:           28
 Gain_enabled:            true
 Gain_mode:               0     # 0=Auto, 1=Manual
-Gain_value:              48
\ No newline at end of file
+Gain_value:              48
diff --git a/config/params.yaml b/config/params.yaml
deleted file mode 100644
index 917ff5d99f16a6f8aa1660153a6846ef80e548c4..0000000000000000000000000000000000000000
--- a/config/params.yaml
+++ /dev/null
@@ -1,21 +0,0 @@
-tf_prefix:               "robot"
-frame_id:                "camera_frame"
-Camera_node:             0
-Camera_serial:           ""
-ISO_speed:               400
-Image_width:             1024
-Image_height:            768
-Left_offset:             0
-Top_offset:              0
-Framerate:               15 
-Color_coding:            0     # 0=MONO8, 1=YUV8, 2=YUV16, 3=RGB24, 4=MONO16, 5=RGB48, 6=RAW8, 7=RAW16
-White_balance_enabled:   true
-White_balance_mode:      0     # 0=Auto, 1=Manual
-White_balance_u_b_value: 0
-White_balance_v_r_value: 0
-Shutter_enabled:         true
-Shutter_mode:            0     # 0=Auto, 1=Manual
-Shutter_value:           28
-Gain_enabled:            true
-Gain_mode:               0     # 0=Auto, 1=Manual
-Gain_value:              48
diff --git a/include/firewire_camera_driver.h b/include/firewire_camera_driver.h
index 3cf7744692c9e2a634e86234c387b4b3fd0037d0..59f3cce7235ad3ebc241e0ee2e35c33a61413462 100644
--- a/include/firewire_camera_driver.h
+++ b/include/firewire_camera_driver.h
@@ -256,4 +256,4 @@ class FirewireCameraDriver : public iri_base_driver::IriBaseDriver
     ~FirewireCameraDriver();
 };
 
-#endif
+#endif
\ No newline at end of file
diff --git a/include/firewire_camera_driver_node.h b/include/firewire_camera_driver_node.h
index 4e36f765349a886e6588d9b165079ee87677d4a8..0040d476154944f0e4bf29b10c4023101c59d571 100644
--- a/include/firewire_camera_driver_node.h
+++ b/include/firewire_camera_driver_node.h
@@ -86,6 +86,7 @@ class FirewireCameraDriverNode : public iri_base_driver::IriBaseNodeDriver<Firew
     CEventServer *event_server;
     std::string new_frame_event;
     std::string tf_prefix_;
+    std::string camera_name;
 
    /**
     * \brief post open hook
@@ -225,4 +226,4 @@ class FirewireCameraDriverNodelet : public nodelet::Nodelet
 };
 
 
-#endif
+#endif
\ No newline at end of file
diff --git a/launch/camera0rgb.launch b/launch/camera0rgb.launch
deleted file mode 100644
index da97caf10b2d37599dbb8b1847f53889495db056..0000000000000000000000000000000000000000
--- a/launch/camera0rgb.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-<!-- -->
-<launch>
-
-       <node name="iri_firewire_camera_driver" pkg="iri_firewire_camera_driver" type="iri_firewire_camera_driver" output="screen">
-       <param name="Camera_node" value="0" />
-       <param name="Framerate" value="30" />
-       <param name="Color_coding" value="3" />
-       </node>
-</launch>
diff --git a/launch/camera_flea.launch b/launch/camera_flea.launch
deleted file mode 100644
index 9a200220d6f465ba01b0653338b6b92f3ece91dc..0000000000000000000000000000000000000000
--- a/launch/camera_flea.launch
+++ /dev/null
@@ -1,24 +0,0 @@
-<!-- -->
-<launch>
-
-  <node pkg="iri_firewire_camera"
-        name="iri_firewire_camera"
-        type="iri_firewire_camera"
-        output="screen">
-    <!--<param name="Camera_serial"  value="00b09d01006cf72a" />-->
-    <param name="Camera_node"  value="0" />
-    <param name="Color_coding" value="3" />
-    <param name="ISO_speed"    value="400" />
-    <param name="Framerate"    value="2.5" />
-    <param name="Image_width"  value="1024" />
-    <param name="Image_height" value="768" />
-  </node>
-
-<!--  <node pkg="image_view"
-        type="image_view"
-        name="image_view" >
-    <remap from="/image" to="/iri_firewire_camera/camera_image"/>
-  </node>-->
-
-
-</launch>
diff --git a/launch/crop_by_2_rect.launch b/launch/crop_by_2_rect.launch
deleted file mode 100644
index 7f11c67ede58d37fe484a6b8fb41db2c14f443a0..0000000000000000000000000000000000000000
--- a/launch/crop_by_2_rect.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<!-- -->
-<launch>
-
-  <!-- published topics: /processed_image -->
-  <!-- subscribed topics: /camera/image_raw -->
-  <!--                    /camera/camera_info -->
-  <!-- service clients: -->
-  <!-- service servers: -->
-  <!-- action clients: -->
-  <!-- action servers: -->
-  <!-- image crop -->
-  <node pkg ="nodelet"
-        type="nodelet"
-        name="image_proc_dec"
-        args="standalone image_proc/crop_decimate">
-    <param name="decimation_x" value="2" />
-    <param name="decimation_y" value="2" />
-  </node>
-
-  <!-- image rectification -->
-  <node pkg ="image_proc"
-        type="image_proc"
-        name="image_proc_rect">
-    <remap from="/image_raw"
-             to="/camera_out/image_raw" />
-    <remap from="/camera_info"
-             to="/camera_out/camera_info" />
-    <remap from="/image_rect_color"
-             to="/processed_image" />
-  </node>
-</launch>
diff --git a/launch/firewire.launch b/launch/firewire.launch
deleted file mode 100755
index d755dd264224ec9b4b19336176b84313acd5d209..0000000000000000000000000000000000000000
--- a/launch/firewire.launch
+++ /dev/null
@@ -1,73 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
-  <!-- bumblebee -->
-  <!-- published topics: /sensors/head_right/image_raw -->
-  <!-- subscribed topics: -->
-  <!-- service clients: -->
-  <!-- service servers: -->
-  <!-- action clients: -->
-  <!-- action servers: -->
-  <node pkg ="iri_firewire_camera_driver"
-        type="iri_firewire_camera_driver"
-        name="bumblebee"
-        output="screen">
-    <remap from="/bumblebee/camera_image"
-             to="/sensors/head_right/image_raw"/>
-    <!--<param name="Camera_node"  value="0" />-->
-    <!--<param name="Camera_serial"  value="00b09d01006b6fb5" />-->
-    <param name="Camera_serial"  value="00b09d0100a96262" />
-    <param name="frame_id"     value="bumblebee_right" type="string" />
-    <!-- set calibration file -->
-    <param name="cal_file"     value="file://$(find iri_firewire_camera_driver)/calibration/tibi_right_camera.yaml" type="string" />
-    <param name="ISO_speed"    value="400" />
-    <param name="Framerate"    value="1.875" />
-    <param name="Color_coding" value="6" />
-    <param name="Image_width"  value="1024" />
-    <param name="Image_height" value="768" />
-    <param name="Shutter_enabled"   value="True"/>
-    <param name="Shutter_mode"      value="0" />
-    <param name="Shutter_value"     value="10"/>
-    <param name="~tf_prefix"   value="/bumblebee_frame" type="str"/>
-  </node>
-
-  <!-- published topics: /processed_image -->
-  <!-- subscribed topics: /sensors/head_right/image_raw -->
-  <!--                    /sensors/head_right/camera_info -->
-  <!-- service clients: -->
-  <!-- service servers: -->
-  <!-- action clients: -->
-  <!-- action servers: -->
-  <!-- image crop -->
-  <node pkg ="nodelet"
-        type="nodelet"
-        name="image_proc_dec"
-        args="standalone image_proc/crop_decimate">
-    <param name="decimation_x" value="2" />
-    <param name="decimation_y" value="2" />
-    <remap from="/camera/image_raw"
-             to="/sensors/head_right/image_raw"/>
-    <remap from="/camera/camera_info"
-             to="/sensors/head_right/camera_info"/>
-  </node>
-
-  <!-- image rectification -->
-  <node pkg ="image_proc"
-        type="image_proc"
-        name="image_proc_rect">
-    <remap from="/image_raw"
-             to="/camera_out/image_raw" />
-    <remap from="/camera_info"
-             to="/camera_out/camera_info" />
-    <remap from="/image_rect_color"
-             to="/processed_image" />
-  </node>
-
-  <node pkg="image_view"
-        type="image_view"
-        name="image_view" >
-    <remap from="/image" to="/processed_image"/>
-  </node>
-
-</launch>
diff --git a/launch/firewire_arpose_nodelet.launch b/launch/firewire_arpose_nodelet.launch
deleted file mode 100755
index 4dcb332524da0dd21955925e29b8611572564c9a..0000000000000000000000000000000000000000
--- a/launch/firewire_arpose_nodelet.launch
+++ /dev/null
@@ -1,70 +0,0 @@
-<!-- -->
-<launch>
-  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen">
-    <!--<param name="Camera_serial" value="00b09d01006cf72a" />--> <!-- tibi rear left -->
-    <param name="Camera_serial" value="00b09d0100a96262" /> <!-- tibi rear right  -->
-    <param name="frame_id"      value="bumblebee_frame" type="string" />
-    <param name="cal_file"      value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" />
-    <param name="ISO_speed"     value="800" />
-    <param name="Framerate"     value="2.5" />
-    <param name="Color_coding"  value="6" />
-    <param name="Image_width"   value="1024" />
-    <param name="Image_height"  value="768" />
-    <param name="Shutter_enabled"   value="True"/>
-    <param name="Shutter_mode"      value="1" />
-    <param name="Shutter_value"     value="10"/>
-    <param name="autosize"      value="true"/>
-    <remap from="/standalone_nodelet/camera_image"
-             to="/camera/image_raw" />
-    <remap from="/standalone_nodelet/camera_info"
-             to="/camera/camera_info" />
-  </node>
-
-  <!-- firewire camera driver -->
-  <node pkg="nodelet" type="nodelet" name="iri_firewire_nodelet" args="load iri_firewire_camera/FirewireCameraNodelet standalone_nodelet" output="screen">
-  </node>
-
-  <node pkg ="nodelet" type="nodelet" name="image_proc_debayer" args="load image_proc/debayer standalone_nodelet" output="screen">
-    <remap from="/image_raw"
-             to="/camera/image_raw"/>
-    <remap from="/camera_info"
-             to="/camera/camera_info"/>
-    <remap from="/image_mono"
-             to="/camera/image_mono"/>
-  </node>
-  <!-- image rectification -->
-  <node pkg ="nodelet" type="nodelet" name="image_proc_rect" args="load image_proc/rectify standalone_nodelet" output="screen">
-    <remap from="/image_mono"
-             to="/camera/image_mono"/>
-    <remap from="/camera_info"
-             to="/camera/camera_info"/>
-    <remap from="/image_rect"
-             to="/camera/image_rect"/>
-  </node>
-
-  <node pkg ="nodelet" type="nodelet" name="local_th" args="load iri_image_local_binarization/ImageLocalBinNodelet standalone_nodelet" output="screen">
-    <remap from="local_th/image_in/image_raw"
-             to="/camera/image_rect"/>
-    <remap from="local_th/image_in/camera_info"
-             to="/camera/camera_info"/>
-    <remap from="local_th/image_out/image_raw"
-             to="/ar_pose/image_raw"/>
-    <remap from="local_th/image_out/camera_info"
-             to="/ar_pose/camera_info"/>
-  </node>
-
-  <node name="ar_pose"
-        pkg ="ar_pose"
-        type="ar_multi"
-        respawn="false"
-        output="screen">
-    <param name="marker_pattern_list" type="string" value="$(find iri_ladybug2)/data/object_4x4_front"/>
-    <param name="threshold"       type="int"    value="100"/>
-    <param name="use_history"     type="bool"   value="true"/>
-    <remap from="/camera/image_raw"
-             to="/ar_pose/image_raw"/>
-    <remap from="/camera/camera_info"
-             to="/ar_pose/camera_info"/>
-  </node>
-
-</launch>
diff --git a/launch/firewire_nodelet.launch b/launch/firewire_nodelet.launch
deleted file mode 100755
index fbd7abe8fe4db4201b404a37e796a4e5cbfca49b..0000000000000000000000000000000000000000
--- a/launch/firewire_nodelet.launch
+++ /dev/null
@@ -1,44 +0,0 @@
-<!-- -->
-<launch>
-  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen">
-    <param name="Camera_node"   value="0" />
-    <!--<param name="Camera_serial" value="00b09d01006b6fb5" />-->
-    <param name="frame_id"      value="bumblebee_frame" type="string" />
-    <param name="cal_file"      value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" />
-    <param name="ISO_speed"     value="800" />
-    <param name="Framerate"     value="2.5" />
-    <param name="Color_coding"  value="3" />
-    <param name="Image_width"   value="1024" />
-    <param name="Image_height"  value="768" />
-    <param name="autosize"      value="true"/>
-    <remap from="/camera_out/image_raw"
-             to="/image_mono" />
-    <remap from="/camera_out/camera_info"
-             to="/camera_info" />
-    <remap from="/camera/image_raw"
-             to="/standalone_nodelet/camera_image" />
-    <remap from="/camera/camera_info"
-             to="/standalone_nodelet/camera_info" />
-    <remap from="image"
-             to="/image_rect" />
-  </node>
-
-  <!-- firewire camera driver -->
-  <node pkg="nodelet" type="nodelet" name="iri_firewire_nodelet" args="load iri_firewire_camera/FirewireCameraNodelet standalone_nodelet" output="screen">
-  </node>
-
-  <!-- image decimation -->
-  <node pkg ="nodelet" type="nodelet" name="image_proc_dec" args="load image_proc/crop_decimate standalone_nodelet" output="screen">
-    <param name="decimation_x" value="2" />
-    <param name="decimation_y" value="2" />
-  </node>
-
-  <!-- image rectification -->
-  <node pkg ="nodelet" type="nodelet" name="image_proc_rect" args="load image_proc/rectify standalone_nodelet" output="screen">
-  </node>
-
-  <!-- image view -->
-  <node pkg="nodelet" type="nodelet" name="image" args="load image_view/image standalone_nodelet" output="screen">
-  </node>
-
-</launch>
diff --git a/launch/node.launch b/launch/node.launch
index f605b142a6680cbcffe5584de74237b27e28522f..1d215d9ffc0b06bd80a86baa9425937c3f48e5ba 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -3,10 +3,10 @@
 <launch>
 
   <arg name="name" default="robot" />
-  <arg name="config_file" default="$(find iri_firewire_camera_driver)/config/params.yaml" />
+  <arg name="config_file" default="$(find iri_firewire_camera_driver)/config/default_camera.yaml" />
   <arg name="output" default="screen" />
   <arg name="launch_prefix" default="" />
-  <arg name="cal_file" default="file://$(find iri_firewire_camera_driver)/calibration/flea_camera.yaml"/>
+  <arg name="cal_file" default="file://$(find iri_firewire_camera_driver)/calibration/default_camera.yaml"/>
 
   <group ns="$(arg name)">
     
@@ -21,4 +21,4 @@
     
   </group>
 
-</launch>
+</launch>
\ No newline at end of file
diff --git a/launch/tibi_dabo_crop_by_2_rect.launch b/launch/tibi_dabo_crop_by_2_rect.launch
deleted file mode 100644
index 1eab31a45baaf4e126eca9fdc62ef687d971f9fd..0000000000000000000000000000000000000000
--- a/launch/tibi_dabo_crop_by_2_rect.launch
+++ /dev/null
@@ -1,42 +0,0 @@
-<launch>
-
-  <!-- load robot defined machines -->
-  <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
-  <group ns="$(env ROBOT)">
-    <!-- published topics: /$(env ROBOT)/processed_image -->
-    <!-- subscribed topics: /$(env ROBOT)/sensors/head_right/image_raw -->
-    <!--                    /$(env ROBOT)/sensors/head_right/camera_info -->
-    <!-- service clients: -->
-    <!-- service servers: -->
-    <!-- action clients: -->
-    <!-- action servers: -->
-    <!-- image crop -->
-    <node pkg ="nodelet"
-          type="nodelet"
-          name="image_proc_dec"
-          machine="visio"
-          args="standalone image_proc/crop_decimate">
-      <param name="decimation_x" value="2" />
-      <param name="decimation_y" value="2" />
-      <remap from="/$(env ROBOT)/camera/image_raw"
-               to="/$(env ROBOT)/sensors/head_right/image_raw"/>
-      <remap from="/$(env ROBOT)/camera/camera_info"
-               to="/$(env ROBOT)/sensors/head_right/camera_info"/>
-    </node>
-
-    <!-- image rectification -->
-    <node pkg ="image_proc"
-          type="image_proc"
-          name="image_proc_rect"
-          machine="visio">
-      <remap from="/$(env ROBOT)/image_raw"
-               to="/$(env ROBOT)/camera_out/image_raw" />
-      <remap from="/$(env ROBOT)/camera_info"
-               to="/$(env ROBOT)/camera_out/camera_info" />
-      <remap from="/$(env ROBOT)/image_rect_color"
-               to="/$(env ROBOT)/processed_image" />
-    </node>
-  </group>
-</launch>
-
diff --git a/src/firewire_camera_driver.cpp b/src/firewire_camera_driver.cpp
index 0b5b0cf39aeabfd1e9dc21227b5cf2d5dcfb1c4c..da5db244bf49315eafbc4de053caa54a0869ef32 100644
--- a/src/firewire_camera_driver.cpp
+++ b/src/firewire_camera_driver.cpp
@@ -623,4 +623,4 @@ std::string FirewireCameraDriver::get_bayer_pattern(void)
 FirewireCameraDriver::~FirewireCameraDriver()
 {
   this->server->close();
-}
+}
\ No newline at end of file
diff --git a/src/firewire_camera_driver_node.cpp b/src/firewire_camera_driver_node.cpp
index d5ed5fa96dc1479fea29b5cdee3cbd0c228c7af4..79a2129bc3bfea1a079e8b5d5ad12f6ed19e759f 100644
--- a/src/firewire_camera_driver_node.cpp
+++ b/src/firewire_camera_driver_node.cpp
@@ -15,17 +15,19 @@ FirewireCameraDriverNode::FirewireCameraDriverNode(ros::NodeHandle &nh) : iri_ba
 
   this->camera.it.reset(new image_transport::ImageTransport(this->public_node_handle_));
   this->camera.Image_msg_=sensor_msgs::ImagePtr(new sensor_msgs::Image);
-  this->diagnosed_camera_image = new diagnostic_updater::HeaderlessTopicDiagnostic("camera_image",this->diagnostic_,
+  this->diagnosed_camera_image = new diagnostic_updater::HeaderlessTopicDiagnostic("image_raw",this->diagnostic_,
                                      diagnostic_updater::FrequencyStatusParam(&this->desired_framerate,&this->desired_framerate,0.01,5));
 
   this->event_server=CEventServer::instance();
 
+  private_node_handle_.param<std::string>("camera_name", this->camera_name, "firewire_camera");
+  
   // [init publishers]
-  this->camera.camera_image_publisher_ = this->camera.it->advertiseCamera("camera_image", 1);
+  this->camera.camera_image_publisher_ = this->camera.it->advertiseCamera(this->camera_name+"/image_raw", 1);
 
   // try to load the calibration file
   private_node_handle_.param<std::string>("cal_file", cal_file, "");
-  this->camera_manager.setCameraName("firewire_camera");
+  this->camera_manager.setCameraName(this->camera_name);
   if(this->camera_manager.validateURL(cal_file))
   {
     if(this->camera_manager.loadCameraInfo(cal_file))
@@ -259,6 +261,4 @@ void *FirewireCameraDriverNodelet::spin_thread(void *param)
 }
 
 // parameters are: package, class name, class type, base class type
-PLUGINLIB_DECLARE_CLASS(iri_firewire_camera_driver, FirewireCameraDriverNodelet, FirewireCameraDriverNodelet, nodelet::Nodelet);
-
-
+PLUGINLIB_DECLARE_CLASS(iri_firewire_camera_driver, FirewireCameraDriverNodelet, FirewireCameraDriverNodelet, nodelet::Nodelet);
\ No newline at end of file