Install the drivers following manufacturer instructions or with this instructions (link is not public as we cannot redistribute the drivers)
Use dynamic_reconfigure to change the integration time.
Some launch files are provided
PmdcameraDriverNode is the main IRI-ROS node class
PmdcameraDriver is the IRI-ROS driver
pmd_camcube::PmdCamcube is the low level IRI driver
: manufacturer wrapper is here now. Make a separate low-lever IRI driver
: add camera features: multiple frequencies, flag image...