diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..4aff857
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,52 @@
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+*/launch/__pycache__
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
\ No newline at end of file
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..a1def54
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Vortex NTNU
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..517ab55
--- /dev/null
+++ b/README.md
@@ -0,0 +1,2 @@
+Simplified version of the https://github.com/ros-drivers/flir_camera_driver
+See [spinnaker_camera_driver/README.md](spinnaker_camera_driver/README.md) for more info
\ No newline at end of file
diff --git a/flir_camera.yaml b/flir_camera.yaml
index 181eed6..bda78c3 100644
--- a/flir_camera.yaml
+++ b/flir_camera.yaml
@@ -9,7 +9,7 @@ distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 3
-  data: [0.000335365051980971, 0.000583836572965934, 0.000318839213604595]
+  data: [-0.356890438215317, 0.168613819658546, 0.0, 0.0, -0.0441848241077346]
 rectification_matrix:
   rows: 3
   cols: 3
diff --git a/spinnaker_camera_driver/README.md b/spinnaker_camera_driver/README.md
index 09d2359..606d248 100644
--- a/spinnaker_camera_driver/README.md
+++ b/spinnaker_camera_driver/README.md
@@ -86,7 +86,7 @@ The driver comes with an example launch file (``driver_node.launch.py``)
 that you can customize as needed.
 ```
 # launch with --show-args to print out all available launch arguments
-ros2 launch spinnaker_camera_driver driver_node.launch.py camera_type:=blackfly_s serial:="'20435008'"
+ros2 launch spinnaker_camera_driver driver_node.launch.py camera_type:=blackfly_s serial:="'23494258'"
 ```
 
 ### Stereo camera with synchronization
diff --git a/spinnaker_camera_driver/launch/driver_node.launch.py b/spinnaker_camera_driver/launch/driver_node.launch.py
index b1445a6..deca639 100644
--- a/spinnaker_camera_driver/launch/driver_node.launch.py
+++ b/spinnaker_camera_driver/launch/driver_node.launch.py
@@ -37,10 +37,10 @@
         'exposure_auto': 'Continuous',
         # These are useful for GigE cameras
         # 'device_link_throughput_limit': 380000000,
-        # 'gev_scps_packet_size': 9000,
+        'gev_scps_packet_size': 9000,
         # ---- to reduce the sensor width and shift the crop
-        # 'image_width': 1408,
-        # 'image_height': 1080,
+        'image_width': 704,
+        'image_height': 540,
         # 'offset_x': 16,
         # 'offset_y': 0,
         # 'binning_x': 1,