The camera service takes care of interacting with the camera using the XIMEA xiAPI. This service accepts messages from two topics, camera.settings and camera.command. The camera.settings topic is used for changing settings on the camera such as exposure or resolution, while the camera.command topic is used to signal the camera to get an image which is then saved to disk and the path sent on the camera.image topic. The camera.command message includes the tile ID, and the image should be saved to disk, using this ID is the filename. A message should be sent on the camera.status topic at a rate of no less than 1 Hz.