# TOF Images and Frame data not sending

Source: https://forum.modalai.com/topic/469/tof-images-and-frame-data-not-sending
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2021-09-30 04:39:08 UTC by Daniel Ryu
Replies: 2 · Views: 626

## Daniel Ryu · 2021-09-30 04:39:08 UTC

I recently purchased a TOF camera and was following the guide in here: https://gitlab.com/voxl-public/old-projects/voxl-hal3-tof-cam-ros. I was able to get a ROS connection and access the camera, but I couldn't get frames to appear. How can I get the frames and data to stream?

System: Ubuntu 18.04
ROS version: melodic

![Screenshot from 2021-09-29 18-31-22.png](https://forum.modalai.com/assets/uploads/files/1632976708526-screenshot-from-2021-09-29-18-31-22.png) 
![Screenshot from 2021-09-29 18-33-12.png](https://forum.modalai.com/assets/uploads/files/1632976717231-screenshot-from-2021-09-29-18-33-12.png) 
![Screenshot from 2021-09-29 18-33-16.png](https://forum.modalai.com/assets/uploads/files/1632976727133-screenshot-from-2021-09-29-18-33-16.png)

## Reply by Guest · 2021-09-30 16:16:37 UTC

Hi Daniel,
That is a deprecated project, the tof sensor is now part of voxl-camera-server. If you connect the tof and run voxl-configure-cameras and select the correct option for your setup, it'll configure the camera server and, after a reboot, the tof data will be available in /run/mpa. After that, you can use voxl-mpa-to-ros to get the data in rosland if that's where you want it.

## Reply by Daniel Ryu · 2021-10-05 04:53:54 UTC (in reply to Guest)

@Alex-Gardner Worked, thanks!