@Chad-Sweet These are default connection on the board yocto:/# voxl-configure-cameras 3 attempting to use camera configuration 3 adding override_cam_id value=1 to /etc/snav/camera.downward.xml adding override_cam_id value=2 to /etc/snav/camera.stereo.xml yocto:/# cat /etc/modalai/camera_env.sh export CAM_CONFIG_ID=3 export HIRES_CAM_ID=0 export TRACKING_CAM_ID=1 export STEREO_CAM_ID=2 export TOF_CAM_ID=-1 After setting configuration to 3 as well yocto# roslaunch voxl_cam_ros tracking ... logging to /home/root/.ros/log/1f7737e8-ad09-11eb-b4a1-ec5c68cd1745/roslaunch-apq8096-3742.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.21 * /tracking/voxl_cam_nodelet/cam_id: 0 * /tracking/voxl_cam_nodelet/cam_name: tracking * /tracking/voxl_cam_nodelet/frame_id: tracking_frame * /tracking/voxl_cam_nodelet/frame_rate: 15 * /tracking/voxl_cam_nodelet/height: 480 * /tracking/voxl_cam_nodelet/is_cam_master: False * /tracking/voxl_cam_nodelet/skip_n_frames: 0 * /tracking/voxl_cam_nodelet/snav_raw10_compatability: True * /tracking/voxl_cam_nodelet/width: 640 NODES /tracking/ tracking_nodelet_manager (nodelet/nodelet) voxl_cam_nodelet (nodelet/nodelet) auto-starting new master process[master]: started with pid [3761] ROS_MASTER_URI=http://localhost:11311/ setting /run_id to 1f7737e8-ad09-11eb-b4a1-ec5c68cd1745 process[rosout-1]: started with pid [3774] started core service [/rosout] process[tracking/tracking_nodelet_manager-2]: started with pid [3780] process[tracking/voxl_cam_nodelet-3]: started with pid [3788] [ INFO] [1620154027.140051685]: Initializing nodelet with 4 worker threads. [ INFO] [1620154027.459145704]: SnapCamDriver Starting [ INFO] [1620154027.459566279]: Monotonic offset: 1620153449.753732686 libcam.enable.publish 1 libcam.enable.publish.dump 0 libcam.publish.buffer.policy max libcam.publish.buffer.max 3 libcam.debug.level info libcam.dump.dir /data/misc/camera/dumps ERROR: could not open camera subscriber for cam id 0 [ERROR] [1620154044.976910041]: CameraManager::Initialize() failed [ERROR] [1620154044.977876660]: Unable to open camera.