The ipk is available here now : http://voxl-packages.modalai.com/stable/voxl-hal3-tof-cam-ros_0.0.5.ipk - you should be able to use the launch file to choose between two modes (5=short range and 9=long range) and fps, which are listed in the launch file.

Thank you so much for this. This was of great help @Chad-Sweet

Hi @gauravshukla914 , Thanks for the help with this. We've released a new beta version of the voxl-hal3-tof-cam-ros that supports auto detection of ToF and defaults the persist.camera.modalai.tof setting properly. It will be in out next voxl-suite release, but is available from our dev channel here if you are interested in using this link The updated readme is here. Thanks!