diff --git a/.goutputstream-B0TIZ0 b/.goutputstream-B0TIZ0
new file mode 100644
index 0000000..e69de29
diff --git a/left_800x600.yaml b/left_800x600.yaml
new file mode 100644
index 0000000..c5936d0
--- /dev/null
+++ b/left_800x600.yaml
@@ -0,0 +1,27 @@
+image_width: 800
+image_height: 600
+camera_name: left
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [546.82833,   0.     , 395.41899,
+           0.     , 728.53633, 307.08189,
+           0.     ,   0.     ,   1.     ]
+camera_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.394573, 0.162349, -0.002198, -0.001344, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 0.99984948,  0.00197076, -0.0172378 ,
+         -0.00184396,  0.99997115,  0.00736835,
+          0.01725183, -0.00733546,  0.99982427]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [704.41879,   0.     , 419.01768,   0.     ,
+           0.     , 704.41879, 306.11043,   0.     ,
+           0.     ,   0.     ,   1.     ,   0.     ]
+
diff --git a/right_800x600.yaml b/right_800x600.yaml
new file mode 100644
index 0000000..acd1983
--- /dev/null
+++ b/right_800x600.yaml
@@ -0,0 +1,27 @@
+image_width: 800
+image_height: 600
+camera_name: right
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [556.66939,   0.     , 402.50992,
+           0.     , 741.65684, 304.22578,
+           0.     ,   0.     ,   1.     ]
+camera_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.394982, 0.162894, 0.002350, -0.001648, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 0.99967835, -0.00220518, -0.02526515,
+          0.00201935,  0.99997074, -0.00737829,
+          0.02528068,  0.00732489,  0.99965356]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [704.41879,   0.     , 419.01768, -36.86134,
+           0.     , 704.41879, 306.11043,   0.     ,
+           0.     ,   0.     ,   1.     ,   0.     ]
+
diff --git a/video-daylight-nodelet-800x600.launch b/video-daylight-nodelet-800x600.launch
new file mode 100644
index 0000000..572e84c
--- /dev/null
+++ b/video-daylight-nodelet-800x600.launch
@@ -0,0 +1,96 @@
+<launch>
+  <!-- <arg name="DEVICE" default="/dev/video0"/> -->
+  <arg name="sync_sink" default="true" />                    <!-- Synchronize the app sink -->
+  <arg name="width" default="800" />                        <!-- Image Width -->
+  <arg name="height" default="600" />                        <!-- Image Height -->
+  <arg name="fps" default="20" />  
+  <arg name="respawn" default="false" />
+  <arg name="left" default="left" />
+  <arg name="right" default="right" />
+  <arg name="approximate_sync" default="true" />                          <!-- Desired framerate -->
+  <arg     if="$(arg respawn)" name="bond" value="" />
+  <arg unless="$(arg respawn)" name="bond" value="--no-bond" />
+
+  <!-- Make arguments available to parameter server -->
+  <param name="image_width" type="int" value="$(arg width)" />
+  <param name="image_height" type="int" value="$(arg height)" />
+  <param name="target_fps" type="int" value="$(arg fps)" />
+  
+
+  <group ns="stereo">
+
+    <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>  
+
+    <node pkg="nodelet" type="nodelet" name="GSCamNodeletLeft" args="load gscam/GSCamNodelet standalone_nodelet respawn:=true" output="screen">
+      <param name="camera_name" value="left"/>
+      <param name="camera_info_url" value="package://jetson_csi_cam/left_800x600.yaml"/>
+      <param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2  ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
+      <param name="frame_id" value="left_link"/>
+      <param name="sync_sink" value="true"/>
+      <param name="left/image_width" type="int" value="$(arg width)" />
+      <param name="left/image_height" type="int" value="$(arg height)" />
+      <param name="left/target_fps" type="int" value="$(arg fps)" />
+      <remap from="camera/image_raw" to="left/image_raw" />
+      <remap from="camera/camera_info" to="left/camera_info" />
+      <!--<remap from="/set_camera_info" to="left/set_camera_info" />-->
+    </node>
+   <node pkg="tf" type="static_transform_publisher" name="fcu_to_Left_link" args="0.08505 0.0265 -0.0562 -0.5958106 0.5966497 -0.3801439 0.3801439 fcu left_link 10" />            
+
+    <node pkg="nodelet" type="nodelet" name="GSCamNodeletRight" args="standalone gscam/GSCamNodelet" output="screen">
+      <param name="camera_name" value="right"/>
+      <param name="camera_info_url" value="package://jetson_csi_cam/right_800x600.yaml"/>
+      <param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2  ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
+      <param name="frame_id" value="right_link"/>
+      <param name="sync_sink" value="true"/>
+      <param name="right/image_width" type="int" value="$(arg width)" />
+      <param name="right/image_height" type="int" value="$(arg height)" />
+      <param name="right/target_fps" type="int" value="$(arg fps)" />
+      <remap from="camera/image_raw" to="right/image_raw" />
+      <remap from="camera/camera_info" to="right/camera_info" />
+      <!--<remap from="/set_camera_info" to="right/set_camera_info" />-->
+    </node>
+   <node pkg="tf" type="static_transform_publisher" name="fcu_to_Right_link" args="0.08505 -0.0265 -0.0562 -0.5958106 0.5966497 -0.3801439 0.3801439 fcu right_link 10"/>
+
+    <!--<node pkg="nodelet" type="nodelet" name="ImageViewNodeletLeft"
+      args="load image_view/image image:=/stereo/right/image_raw standalone_nodelet"
+	    respawn="false"  output="screen" >
+    </node>
+    <node pkg="nodelet" type="nodelet" name="ImageViewNodeletRight"
+      args="standalone image_view/image image:=/stereo/left/image_raw"
+	    respawn="false"  output="screen" >
+    </node>
+
+    <include file="$(find image_proc)/launch/image_proc.launch"
+	   ns="left">
+      <arg name="manager" value="standalone_nodelet" />
+      <arg name="respawn" value="false" />
+    </include>
+
+  <! Basic processing for right camera  
+    <include file="$(find image_proc)/launch/image_proc.launch"
+	   ns="right">
+      <arg name="manager" value="standalone_nodelet" />
+      <arg name="respawn" value="false" />
+    </include>
+
+    <node pkg="nodelet" type="nodelet" name="disparity"
+        args="load gpu_stereo_image_proc/libsgm_disparity standalone_nodelet"
+	      respawn="false"  output="screen">
+        <param name="approximate_sync" value="true" />
+    </node>-->
+    <node pkg="nodelet" type="nodelet" name="Image2RTSPNodelet" args="load image2rtsp/Image2RTSPNodelet standalone_nodelet --no-bond" output="screen">
+    <!-- Read the stream setup file -->
+        <rosparam command="load" file="$(find ros_rtsp)/config/stream_setup.yaml" />
+    </node>
+    <!--<include file="$(find gpu_stereo_image_proc)/launch/libsgm_stereo_image_proc.launch">
+        <arg name="manager" value="/stereo/standalone_nodelet"/>
+    </include>-->
+    
+   
+  </group>
+  
+  
+  
+  
+
+</launch>
diff --git a/video-daylight-nodelet.launch b/video-daylight-nodelet.launch
index 4f574ae..a81b9e3 100644
--- a/video-daylight-nodelet.launch
+++ b/video-daylight-nodelet.launch
@@ -33,7 +33,8 @@
       <remap from="camera/image_raw" to="left/image_raw" />
       <remap from="camera/camera_info" to="left/camera_info" />
       <!--<remap from="/set_camera_info" to="left/set_camera_info" />-->
-    </node>      
+    </node>
+   <node pkg="tf" type="static_transform_publisher" name="fcu_to_Left_link" args="0.08505 0.0265 -0.0562 -0.5958106 0.5966497 -0.3801439 0.3801439 fcu left_link 10" />      
 
     <node pkg="nodelet" type="nodelet" name="GSCamNodeletRight" args="standalone gscam/GSCamNodelet" output="screen">
       <param name="camera_name" value="right"/>
@@ -48,6 +49,7 @@
       <remap from="camera/camera_info" to="right/camera_info" />
       <!--<remap from="/set_camera_info" to="right/set_camera_info" />-->
     </node>
+   <node pkg="tf" type="static_transform_publisher" name="fcu_to_Right_link" args="0.08505 -0.0265 -0.0562 -0.5958106 0.5966497 -0.3801439 0.3801439 fcu right_link 10"/>
 
     <!--<node pkg="nodelet" type="nodelet" name="ImageViewNodeletLeft"
       args="load image_view/image image:=/stereo/right/image_raw standalone_nodelet"
@@ -80,9 +82,9 @@
     <!-- Read the stream setup file -->
         <rosparam command="load" file="$(find ros_rtsp)/config/stream_setup.yaml" />
     </node>
-    <include file="$(find gpu_stereo_image_proc)/launch/libsgm_stereo_image_proc.launch">
+    <!--<include file="$(find gpu_stereo_image_proc)/launch/libsgm_stereo_image_proc.launch">
         <arg name="manager" value="/stereo/standalone_nodelet"/>
-    </include>
+    </include>-->
     
    
   </group>