diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2672899c137891a8ee4d44308bedbff5a6f41f4a..aac9b6dfae073a022ae2e894c6212cebef7d525b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,16 +18,16 @@ find_package(catkin REQUIRED COMPONENTS sensor_msgs image_transport camera_info_
FIND_PACKAGE(iriutils REQUIRED)
FIND_PACKAGE(firewire REQUIRED)
-FIND_LIBRARY(raw1394_LIBRARY
+FIND_LIBRARY(raw1394_LIBRARIES
NAMES raw1394
PATHS /usr/lib /usr/local/lib)
-FIND_LIBRARY(dc1394_LIBRARY
+FIND_LIBRARY(dc1394_LIBRARIES
NAMES dc1394
PATHS /usr/lib /usr/local/lib)
-IF (raw1394_INCLUDE_DIR AND raw1394_LIBRARY AND dc1394_INCLUDE_DIR AND dc1394_LIBRARY)
+IF (raw1394_INCLUDE_DIRS AND raw1394_LIBRARIES AND dc1394_INCLUDE_DIRS AND dc1394_LIBRARIES)
SET(firewire_ready TRUE)
-ENDIF (raw1394_INCLUDE_DIR AND raw1394_LIBRARY AND dc1394_INCLUDE_DIR AND dc1394_LIBRARY)
+ENDIF (raw1394_INCLUDE_DIRS AND raw1394_LIBRARIES AND dc1394_INCLUDE_DIRS AND dc1394_LIBRARIES)
# ********************************************************************
# Add topic, service and action definition here
@@ -91,8 +91,8 @@ include_directories(include)
include_directories(${catkin_INCLUDE_DIRS})
include_directories(${iriutils_INCLUDE_DIR})
include_directories(${firewire_INCLUDE_DIR})
-include_directories(${raw1394_INCLUDE_DIR})
-include_directories(${dc1394_INCLUDE_DIR})
+include_directories(${raw1394_INCLUDE_DIRS})
+include_directories(${dc1394_INCLUDE_DIRS})
## Declare a cpp library
add_library(${PROJECT_NAME}_nodelet src/firewire_camera_driver_node.cpp src/firewire_camera_driver.cpp)
@@ -107,23 +107,24 @@ add_executable(${PROJECT_NAME} src/firewire_camera_driver.cpp src/firewire_camer
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${firewire_LIBRARY})
-target_link_libraries(${PROJECT_NAME} ${raw1394_LIBRARY})
-target_link_libraries(${PROJECT_NAME} ${dc1394_LIBRARY})
+target_link_libraries(${PROJECT_NAME} ${raw1394_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${dc1394_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_nodelet ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_nodelet ${iriutils_LIBRARY})
target_link_libraries(${PROJECT_NAME}_nodelet ${firewire_LIBRARY})
-target_link_libraries(${PROJECT_NAME}_nodelet ${raw1394_LIBRARY})
-target_link_libraries(${PROJECT_NAME}_nodelet ${dc1394_LIBRARY})
+target_link_libraries(${PROJECT_NAME}_nodelet ${raw1394_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}_nodelet ${dc1394_LIBRARIES})
# ********************************************************************
# Add message headers dependencies
# ********************************************************************
# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
-add_dependencies(${PROJECT_NAME}_gencfg iri_base_driver_generate_messages)
+add_dependencies(${PROJECT_NAME}_gencfg iri_base_driver_generate_messages)
# ********************************************************************
# Add dynamic reconfigure dependencies
# ********************************************************************
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+add_dependencies(${PROJECT_NAME}_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(foo_node
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..4e32f43f734408f2c1f0639527e302123149dee7
--- /dev/null
+++ b/README.md
@@ -0,0 +1,47 @@
+# Description
+
+The iri_firewire_camera_driver ROS package is a wrapper of the firewire_camera C++ driver library.
+
+
+# Dependencies
+
+This node has the following dependencies:
+
+ * [firewire_camera](https://gitlab.iri.upc.edu/labrobotica/drivers/firewire_camera)
+
+ * [iri_base_driver](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_base_driver):
+
+
+# Install
+
+This package, as well as all IRI dependencies, can be installed by cloning the
+repository inside the active workspace:
+
+```
+roscd
+cd ../src
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/platforms/segway/iri_segway_rmp200_driver.git
+```
+
+However, this package is normally used as part of a wider installation (i.e. a
+robot, an experiment or a demosntration) which will normally include a complete
+rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
+
+# How to use it
+
+<!--
+The *node.launch* launch file is intended to be included in any launch file
+that needs the node. It has the following arguments:
+
+ * name: (default: robot) namespace of the node
+
+ * config_file: (default: $(find iri_segway_rmp200_driver)/config/params.yaml) a configuration file with all the supported parameters.
+ A default YAML configuration file is provided in the config folder,
+ but each application can define a new file with the desired parameters and pass it to this launch file.
+
+ * output: (default: log) the desired output for the node. Possible values for this parameter are log and screen.
+
+ * launch_prefix: (default: none)
+
+To remap the topics and services of the driver, use a global remap command.
+-->
\ No newline at end of file
diff --git a/config/flea_params.yaml b/config/flea_params.yaml
index a8242bfbc2b2d19fa1562a0cd2d7ab3d8ae6c1d4..1b9f36464798da61d3ccd15eb752063235b54d45 100644
--- a/config/flea_params.yaml
+++ b/config/flea_params.yaml
@@ -2,6 +2,13 @@ tf_prefix: "robot"
frame_id: "camera_frame"
Camera_node: 0
Camera_serial: ""
+
+ #known serials
+ #flea: 00b09d0100a96262
+ #flea2: 00b09d01006cf72a
+ #bumblebee dabo: 0814438300001f9c
+ #bumblebee tibi:
+
ISO_speed: 400
Image_width: 1024
Image_height: 768
@@ -18,4 +25,4 @@ Shutter_mode: 0 # 0=Auto, 1=Manual
Shutter_value: 28
Gain_enabled: true
Gain_mode: 0 # 0=Auto, 1=Manual
-Gain_value: 48
+Gain_value: 48
\ No newline at end of file
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
new file mode 100644
index 0000000000000000000000000000000000000000..2001157c363609bb656a22eccec7eda06e68f187
--- /dev/null
+++ b/launch/nodelet.launch
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="name" default="robot" />
+ <arg name="config_file" default="$(find iri_firewire_camera_driver)/config/params.yaml" />
+ <arg name="output" default="log" />
+ <arg name="launch_prefix" default="" />
+
+ <group ns="$(arg name)">
+
+ <node pkg ="nodelet"
+ type="nodelet"
+ name="standalone_nodelet"
+ args="manager"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)">
+
+ <node pkg="nodelet"
+ type="nodelet"
+ name="iri_firewire_camera_driver_nodelet"
+ args="load iri_firewire_camera_driver/FirewireCameraDriverNodelet standalone_nodelet"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)">
+ <rosparam file="$(arg config_file)" command="load" />
+ </node>
+
+ </group>
+
+</launch>
+
+<!-- TODO remaps image_raw, camera_info-->
+<!-- TODO params nodelet? -->
+<!-- TODO test with image_proc/crop_decimate, image_proc/rectify
\ No newline at end of file