This repository has all drivers needed for all rpng vins systems. Please clone this repository instead of individual repositories. Add launch files into the vins_launch package folder for the different launch types.

• Clone this repository with submodules:
  • git clone --recursive https://github.com/rpng/vins_source.git
• If this repository is already cloned download submodules
  • cd vins_source
  • git submodule update --init --recursive
• To add a new driver package (as a submodule)
  • git submodule add <url-to-git-repo>

############################# To reduce chameleon 3 resolution:

• in PointGrey.cfg line 89: using "format7_mode1", which will result in resolution 482 x 644.
• in nodelet.cpp: uncomment line 100-121.