diff --git a/spinnaker_camera_driver/cfg/Spinnaker.cfg b/spinnaker_camera_driver/cfg/Spinnaker.cfg
index ab976ec0..dacd6893 100755
--- a/spinnaker_camera_driver/cfg/Spinnaker.cfg
+++ b/spinnaker_camera_driver/cfg/Spinnaker.cfg
@@ -306,6 +306,11 @@ auto_lighting_mode = gen.enum([
 ], "Auto algorithms lighting modes")
 gen.add("auto_exposure_lighting_mode", str_t, SensorLevels.RECONFIGURE_RUNNING, "Auto exposure lighting mode.", "Normal", edit_method=auto_lighting_mode)
 
+# GigE camera parameters
+gen.add("gige_parameter_enable",               bool_t, SensorLevels.RECONFIGURE_STOP,    "GigE camera parameters enabled",      False)
+gen.add("device_link_throughput_limit",        int_t,  SensorLevels.RECONFIGURE_RUNNING, "Device link throughput limit",        14353165, 0)
+gen.add("camera_packet_size",                  int_t,  SensorLevels.RECONFIGURE_STOP,    "GigE camera packet size",             1400,     0)
+
 # Other
 gen.add("time_offset", double_t, SensorLevels.RECONFIGURE_RUNNING, "Time offset to add to image time stamps.", 0.0, -5.0, 5.0)
 
diff --git a/spinnaker_camera_driver/include/spinnaker_camera_driver/SpinnakerCamera.h b/spinnaker_camera_driver/include/spinnaker_camera_driver/SpinnakerCamera.h
index 4cd9251b..51749f01 100644
--- a/spinnaker_camera_driver/include/spinnaker_camera_driver/SpinnakerCamera.h
+++ b/spinnaker_camera_driver/include/spinnaker_camera_driver/SpinnakerCamera.h
@@ -52,6 +52,7 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <mutex>
 #include <sstream>
 #include <string>
+#include <thread>
 
 // Header generated by dynamic_reconfigure
 #include <spinnaker_camera_driver/SpinnakerConfig.h>
@@ -160,6 +161,36 @@ class SpinnakerCamera
   */
   void setDesiredCamera(const uint32_t& id);
 
+  /*!
+  * \brief Used to set the IP of the camera you wish to connect to.
+  *
+  * Sets the desired IP.  If this value is not set, the driver will try to automatically 
+  * assign an IP address to the camera.
+  * This function should be called before connect().
+  * \param ip IP for the camera.  Should be something like 192.168.0.2.
+  */
+  void setDesiredIP(const std::string& ip);
+
+  /*!
+  * \brief Used to set the subnet mask of the network the camera is connected to.
+  *
+  * Sets the subnet mask.  If this value is not set, the driver will assign the default subnet mask
+  * '255.255.255.0'.
+  * This function should be called before connect().
+  * \param mask Subnet mask of the network.  Should be something like 255.255.255.0.
+  */
+  void setDesiredSubnetMask(const std::string& mask);
+
+  /*!
+  * \brief Used to set the gateway of the subnet the camera will connect to.
+  *
+  * Sets the desired gateway.  If this value is not set, the driver will automatically 
+  * assign the gateway to the first address of the subnet.
+  * This function should be called before connect().
+  * \param gateway Gateway address on the subnet.  Should be something like 192.168.0.1.
+  */
+  void setDesiredGateway(const std::string& gateway);
+
   void setGain(const float& gain);
   int getHeightMax();
   int getWidthMax();
@@ -171,8 +202,27 @@ class SpinnakerCamera
     return serial_;
   }
 
+protected:
+  // Routine to find the desired camera to connect to.
+  void findCameraPtr();
+  // Routine to update camera the desired camera's pointer after changing a camera parameter (e.g. IP address)
+  void updateCameraPtr();
+  int64_t fromStrToIP(const std::string ip_str);
+  std::string convertIPtoStr(const int64_t ip_int);
+
+  /*!
+  * \brief Used to apply the desired subnet configuration to the camera.
+  *
+  * This function sets the IP of the camera, the subnet mask and the gateway address for the network being used.
+  */
+  void setIP();
+  void tryAutoForceIP();
+
 private:
   uint32_t serial_;  ///< A variable to hold the serial number of the desired camera.
+  int64_t ip_;       ///< A variable to hold the IP to associate to the desired camera.
+  int64_t mask_;     ///< A variable to hold the subnet mask of the network the desired camera is attached to.
+  int64_t gateway_;  ///< A variable to hold the address of the gateway in the subnet the camera is connected to.
 
   Spinnaker::SystemPtr system_;
   Spinnaker::CameraList camList_;
diff --git a/spinnaker_camera_driver/include/spinnaker_camera_driver/camera.h b/spinnaker_camera_driver/include/spinnaker_camera_driver/camera.h
index 5454588d..efc73eb3 100644
--- a/spinnaker_camera_driver/include/spinnaker_camera_driver/camera.h
+++ b/spinnaker_camera_driver/include/spinnaker_camera_driver/camera.h
@@ -63,6 +63,7 @@ class Camera
   static const uint8_t LEVEL_RECONFIGURE_RUNNING = 0;
 
   virtual void setGain(const float& gain);
+  inline void setPacketSizeMax(const unsigned int size) { packet_size_max_ = size; };
   int getHeightMax();
   int getWidthMax();
 
@@ -78,6 +79,7 @@ class Camera
 
   int height_max_;
   int width_max_;
+  unsigned int packet_size_max_;
 
   /*!
   * \brief Changes the video mode of the connected camera.
@@ -87,6 +89,8 @@ class Camera
   */
   virtual void setFrameRate(const float frame_rate);
   virtual void setImageControlFormats(const spinnaker_camera_driver::SpinnakerConfig& config);
+
+  void setGigEPacketSize(const int size);
   /*!
   * \brief Set parameters relative to GigE cameras.
   *
diff --git a/spinnaker_camera_driver/launch/camera_gige.launch b/spinnaker_camera_driver/launch/camera_gige.launch
new file mode 100644
index 00000000..703a81a2
--- /dev/null
+++ b/spinnaker_camera_driver/launch/camera_gige.launch
@@ -0,0 +1,131 @@
+<?xml version="1.0"?>
+<!--
+Software License Agreement (BSD)
+
+\file      camera.launch
+\authors   Michael Hosmar <mhosmar@clearpathrobotics.com>
+\copyright Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+<launch>
+   <!-- Determine this using rosrun spinnaker_camera_driver list_cameras.
+       If not specified, defaults to first camera found. -->
+  <arg name="camera_name"               default="camera" />
+  <arg name="camera_serial"             default="0" />
+
+  <!-- ### Use these parameters to set the subnet configuration ONCE, and while only one camera is connected ### -->
+  <arg name="camera_IP"                 default="0" />              <!-- Relevant only when using a GigE camera -->
+  <arg name="camera_subnet_mask"        default="255.255.255.0" />  <!-- Relevant only when using a GigE camera -->
+  <arg name="subnet_gateway"            default="0" />              <!-- Relevant only when using a GigE camera -->
+  <!-- ###### -->
+  <arg name="calibrated"                default="0" />
+  <arg name="device_type"               default="GigE" /> <!-- USB3 or GigE -->
+
+  <!-- When unspecified, the driver will use the default framerate as given by the
+      camera itself. Use the parameter 'control_frame_rate' to enable manual frame 
+      rate control, and 'frame_rate' to set the frame rate value. -->
+  <arg name="control_frame_rate"        default="False" />
+  <arg name="frame_rate"                default="30" />
+
+  <!-- Disabling ISP will dramatically increase frame-rate. However, it can only be 
+      disabled when using Bayer encoding (e.g. BayerRG8)-->
+  <arg name="isp_enable"                default="False" /> 
+  <arg name="encoding"                  default="Mono8" />
+  <arg name="color_balance"             default="Continuous" /> <!-- Off, Once, or Continuous -->
+  <!-- Available Encodings:
+        Mono:              YUV:              YCbCr:          Other:
+        - Mono8            - YUV411Packed    - YCbCr8        - BGR8
+        - Mono16           - YUV422Packed    - YCbCr422_8    - BGRa8
+        - Mono12p          - YUV444Packed    - YCbCr411_8    - RGB8Packed
+        - Mono12Packed
+
+        Bayer:
+        - BayerGR8         - BayerGR12p
+        - BayerRG8         - BayerRG12p
+        - BayerGB8         - BayerGB12p
+        - BayerBG8         - BayerBG12p
+        - BayerGR16        - BayerGR12Packed
+        - BayerRG16        - BayerRG12Packed
+        - BayerGB16        - BayerGB12Packed
+        - BayerBG16        - BayerBG12Packed
+  -->
+
+  <!-- Parameters for GigE cameras -->
+  <arg name="enable_gige_parameters"    default="False" />
+  <arg name="throughput_limit"          default="125000000" />
+  <arg name="packet_size"               default="1400" />
+
+  <group ns="$(arg camera_name)">
+    <!-- Nodelet manager -->
+    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" cwd="node" output="screen"/>
+
+    <!-- Camera nodelet -->
+    <node pkg="nodelet" type="nodelet" name="spinnaker_camera_nodelet"
+          args="load spinnaker_camera_driver/SpinnakerCameraNodelet camera_nodelet_manager" >
+
+      <param name="frame_id"                            value="$(arg camera_name)" />
+      <param name="serial"                              value="$(arg camera_serial)" />
+      <param name="camera_ip"                           value="$(arg camera_IP)" />
+      <param name="camera_mask"                         value="$(arg camera_subnet_mask)" />
+      <param name="subnet_gateway"                      value="$(arg subnet_gateway)" />
+      <param name="device_type"                         value="$(arg device_type)" />
+
+      <!-- Frame rate -->
+      <param name="acquisition_frame_rate_enable"       value="$(arg control_frame_rate)" />
+      <param name="acquisition_frame_rate"              value="$(arg frame_rate)" />
+
+      <!-- Image Processing -->
+      <param name="isp_enable"                          value="$(arg isp_enable)" />
+      <param name="auto_white_balance"                  value="$(arg color_balance)" />
+      <param name="image_format_color_coding"           value="$(arg encoding)" />
+
+      <param name="gige_parameter_enable"               value="$(arg enable_gige_parameters)" />
+      <param name="device_link_throughput_limit"        value="$(arg throughput_limit)" />
+      <param name="camera_packet_size"                  value="$(arg packet_size)" />
+
+      <!-- Image Resolution -->
+      <!-- Height and width pixel size cannot be set directly. Instead use the 
+          binning, offset, and region of interest options. 
+          - RoI: range of pixels to select from original image
+                (Note: RoI is defined from image pixel origin (i.e. top left))
+          - Binning: reduces resolution by a factor of 1, 2, 4, or 8
+          - Offset: moves the pixel origin
+                x-offset = max_width/x_binning - roi_width/2
+                y-offset = max_height/y_binning - roi_height/2
+      -->
+      <!--
+      <param name="image_format_x_binning" value="2" />
+      <param name="image_format_y_binning" value="2" />
+      <param name="image_format_x_offset" value="128" />
+      <param name="image_format_y_offset" value="122" />
+      <param name="image_format_roi_width" value="1280" />
+      <param name="image_format_roi_height" value="720" />
+      -->
+
+      <!-- Use the camera_calibration package to create this file -->
+      <param name="camera_info_url" if="$(arg calibrated)"
+             value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
+    </node>
+
+    <!-- Debayering nodelet -->
+    <!-- <node pkg="nodelet" type="nodelet" name="image_proc_debayer"
+          args="load image_proc/debayer camera_nodelet_manager"> -->
+    <!-- </node> -->
+  </group>
+</launch>
diff --git a/spinnaker_camera_driver/launch/stereo.launch b/spinnaker_camera_driver/launch/stereo.launch
index ce0c2d7d..1bfa1da9 100644
--- a/spinnaker_camera_driver/launch/stereo.launch
+++ b/spinnaker_camera_driver/launch/stereo.launch
@@ -1,11 +1,9 @@
 <?xml version="1.0"?>
 <!--
 Software License Agreement (BSD)
-
 \file      stereo.launch
 \authors   Michael Hosmar <mhosmar@clearpathrobotics.com>
 \copyright Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved.
-
 Redistribution and use in source and binary forms, with or without modification, are permitted provided that
 the following conditions are met:
  * Redistributions of source code must retain the above copyright notice, this list of conditions and the
@@ -14,7 +12,6 @@ the following conditions are met:
    following disclaimer in the documentation and/or other materials provided with the distribution.
  * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
    products derived from this software without specific prior written permission.
-
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
 RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
diff --git a/spinnaker_camera_driver/src/SpinnakerCamera.cpp b/spinnaker_camera_driver/src/SpinnakerCamera.cpp
index 3ecaac9f..8d1d8fe7 100644
--- a/spinnaker_camera_driver/src/SpinnakerCamera.cpp
+++ b/spinnaker_camera_driver/src/SpinnakerCamera.cpp
@@ -142,38 +142,84 @@ Spinnaker::GenApi::CNodePtr SpinnakerCamera::readProperty(const Spinnaker::GenIC
   }
 }
 
-void SpinnakerCamera::connect()
+void SpinnakerCamera::findCameraPtr()
 {
-  if (!pCam_)
+  // If we have a specific camera to connect to (specified by a serial number)
+  if (serial_ != 0)
   {
-    // If we have a specific camera to connect to (specified by a serial number)
-    if (serial_ != 0)
-    {
-      const auto serial_string = std::to_string(serial_);
+    const auto serial_string = std::to_string(serial_);
 
-      try
-      {
-        pCam_ = camList_.GetBySerial(serial_string);
-      }
-      catch (const Spinnaker::Exception& e)
-      {
-        throw std::runtime_error("[SpinnakerCamera::connect] Could not find camera with serial number " +
-                                 serial_string + ". Is that camera plugged in? Error: " + std::string(e.what()));
-      }
+    try
+    {
+      pCam_ = camList_.GetBySerial(serial_string);
     }
-    else
+    catch (const Spinnaker::Exception& e)
     {
-      // Connect to any camera (the first)
-      try
-      {
-        pCam_ = camList_.GetByIndex(0);
-      }
-      catch (const Spinnaker::Exception& e)
-      {
-        throw std::runtime_error("[SpinnakerCamera::connect] Failed to get first connected camera. Error: " +
-                                 std::string(e.what()));
-      }
+      throw std::runtime_error("[SpinnakerCamera::connect] Could not find camera with serial number " +
+                                serial_string + ". Is that camera plugged in? Error: " + std::string(e.what()));
+    }
+  }
+  else
+  {
+    // Connect to any camera (the first)
+    try
+    {
+      pCam_ = camList_.GetByIndex(0);
+    }
+    catch (const Spinnaker::Exception& e)
+    {
+      throw std::runtime_error("[SpinnakerCamera::connect] Failed to get first connected camera. Error: " +
+                                std::string(e.what()));
+    }
+  }
+}
+
+void SpinnakerCamera::updateCameraPtr()
+{
+  if (pCam_->IsInitialized())
+  {
+    pCam_->DeInit();
+  }
+  int prev_cam_list_size = camList_.GetSize();
+  camList_.Clear();
+
+  // If a parameter changed on a camera (e.g. IP address), we need to update the cameras
+  for (size_t i = 0; i < 10; i++)
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));  // Delay to let time to completely release the camera
+    system_->UpdateCameras();
+    camList_ = system_->GetCameras();
+    if (camList_.GetSize() == prev_cam_list_size)
+    {
+      break;
     }
+  }
+  if (camList_.GetSize() != prev_cam_list_size)
+  {
+    throw std::runtime_error("[SpinnakerCamera::updateCameraPtr] Failed to reconnect to camera after changing IP. "
+                              "Try to reboot your camera.");
+  }
+
+  // For debugging purpose
+  // for (size_t idx = 0; idx < camList_.GetSize(); idx++)
+  // {
+  //   Spinnaker::CameraPtr cam = camList_.GetByIndex(idx);
+  //   Spinnaker::GenApi::INodeMap& node_map_local = cam->GetTLDeviceNodeMap();
+
+  //   Spinnaker::GenApi::CStringPtr sn = node_map_local.GetNode("DeviceSerialNumber");
+  //   std::cout << "Found SN " << sn->GetValue() << std::endl;
+  // }
+
+  // std::cout << "Targetting serial " << serial_ << std::endl;
+  pCam_ = nullptr;
+  findCameraPtr();
+}
+
+void SpinnakerCamera::connect()
+{
+  if (!pCam_)
+  {
+    findCameraPtr();
     if (!pCam_ || !pCam_->IsValid())
     {
       throw std::runtime_error("[SpinnakerCamera::connect] Failed to obtain camera reference.");
@@ -187,7 +233,7 @@ void SpinnakerCamera::connect()
       if (serial_ == 0)
       {
         Spinnaker::GenApi::CStringPtr serial_ptr =
-            static_cast<Spinnaker::GenApi::CStringPtr>(genTLNodeMap.GetNode("DeviceID"));
+            static_cast<Spinnaker::GenApi::CStringPtr>(genTLNodeMap.GetNode("DeviceSerialNumber"));
         if (IsAvailable(serial_ptr) && IsReadable(serial_ptr))
         {
           serial_ = atoi(serial_ptr->GetValue().c_str());
@@ -217,6 +263,30 @@ void SpinnakerCamera::connect()
           }
         }
         // TODO(mhosmar): - check if interface is GigE and connect to GigE cam
+        // Actually: if GigE camera, auto force IP if no IP is set in config 
+        //   and if the camera is not on the right subnetwork,
+        // or update IP according to config (if specified)
+        if (device_type_ptr->GetIntValue() == Spinnaker::DeviceTypeEnum::DeviceType_GigEVision)
+        {
+
+          Spinnaker::GenApi::CBooleanPtr is_wrong_subnet = genTLNodeMap.GetNode("GevDeviceIsWrongSubnet");
+
+          if ((ip_ == 0) && is_wrong_subnet->GetValue())
+          {
+            ROS_WARN_STREAM("NO IP set for camera with serial " << serial_ << ". "
+                            << "Trying to auto force IP, which can lead to adresses issues.");
+            tryAutoForceIP();
+          }
+          else if (ip_ != 0)
+          {
+            setIP();
+          }
+
+          if (pCam_->IsInitialized())
+          {
+            pCam_->DeInit();
+          }
+        }
       }
     }
     catch (const Spinnaker::Exception& e)
@@ -250,6 +320,10 @@ void SpinnakerCamera::connect()
         ROS_WARN("SpinnakerCamera::connect: Could not detect camera model name.");
       }
 
+      // Need to do this here: no reference to camera in Camera class
+      unsigned int packet_size_max = pCam_->DiscoverMaxPacketSize();
+      camera_->setPacketSizeMax(packet_size_max);
+
       // Configure chunk data - Enable Metadata
       // SpinnakerCamera::ConfigureChunkData(*node_map_);
     }
@@ -478,6 +552,300 @@ void SpinnakerCamera::setDesiredCamera(const uint32_t& id)
 {
   serial_ = id;
 }
+void SpinnakerCamera::setDesiredIP(const std::string& ip)
+{
+  ip_ = fromStrToIP(ip);
+}
+void SpinnakerCamera::setDesiredSubnetMask(const std::string& mask)
+{
+  mask_ = fromStrToIP(mask);
+}
+void SpinnakerCamera::setDesiredGateway(const std::string& gateway)
+{
+  gateway_ = fromStrToIP(gateway);
+}
+
+int64_t SpinnakerCamera::fromStrToIP(const std::string ip_str)
+{
+  int64_t ip_int = 0;
+  std::ostringstream ip_part;
+  const char *ip_char = ip_str.c_str();
+  int n=3;
+  for (size_t i=0 ; i<ip_str.size() ; i++)
+  {
+    if (*ip_char != '.')
+    {
+      ip_part << *ip_char;
+      ip_char++;
+    }
+    else
+    {
+      ip_int += (atoi(ip_part.str().c_str()) * pow(256, n));
+
+      ip_part = std::ostringstream();
+      ip_char++;
+      n--;
+    }
+  }
+  ip_int += (atoi(ip_part.str().c_str()) * pow(256, n));
+
+  return ip_int;
+}
+
+std::string SpinnakerCamera::convertIPtoStr(const int64_t ip_int)
+{
+  unsigned int ip_us = static_cast<unsigned int>(ip_int);
+  std::ostringstream ip_str;
+  ip_str << ((ip_us & 0xFF000000) >> 24) << ".";
+  ip_str << ((ip_us & 0x00FF0000) >> 16) << ".";
+  ip_str << ((ip_us & 0x0000FF00) >> 8) << ".";
+  ip_str << (ip_us & 0x000000FF);
+
+  return ip_str.str();
+}
+
+void SpinnakerCamera::setIP()
+{
+  try
+  {
+    // Need to deinit the camera before updating its IP
+    bool is_cam_init = pCam_->IsInitialized();
+    if (is_cam_init)
+    {
+      pCam_->DeInit();
+    }
+
+    if (gateway_ == 0)
+    {
+      gateway_ = (ip_ & mask_) + 1;
+    }
+
+    if (pCam_ != nullptr)
+    {
+      Spinnaker::GenApi::INodeMap& node_mapTL = pCam_->GetTLDeviceNodeMap();
+      Spinnaker::GenApi::CEnumerationPtr device_type = node_mapTL.GetNode("DeviceType");
+      if (device_type->GetIntValue() != Spinnaker::DeviceTypeEnum::DeviceType_GigEVision)
+      {
+        ROS_INFO("[SpinnakerCamera::setIP] IP can only be set for GigEVision system");
+        return;
+      }
+
+      Spinnaker::GenApi::CStringPtr cam_serial = node_mapTL.GetNode("DeviceSerialNumber");
+
+      Spinnaker::GenApi::CIntegerPtr curr_ip = node_mapTL.GetNode("GevDeviceIPAddress");
+      if (ip_ == 0)
+      {
+        ROS_INFO_STREAM("[SpinnakerCamera::setIP] No changes made to camera's IP. Current value is "
+                        << curr_ip->GetValue());
+        return;
+      }
+      if (!IsReadable(curr_ip))
+      {
+        ROS_ERROR("[SpinnakerCamera::setIP] Cannot read the current IP address");
+      }
+      if (curr_ip->GetValue() == ip_)
+      {
+        return;
+      }
+
+      // First, update the network config at the TL level
+      Spinnaker::GenApi::CIntegerPtr camTLIP = node_mapTL.GetNode("GevDeviceForceIPAddress");
+      if (!IsWritable(camTLIP))
+      {
+        ROS_ERROR("[SpinnakerCamera::setIP] Cannot force IP on this device (TL level)");
+        return;
+      }
+      else
+      {
+        camTLIP->SetValue(ip_);
+        ROS_INFO_STREAM("[SpinnakerCamera::setIP] IP address set to " << convertIPtoStr(camTLIP->GetValue()));
+      }
+
+      Spinnaker::GenApi::CIntegerPtr camTL_mask = node_mapTL.GetNode("GevDeviceForceSubnetMask");
+
+      if (!IsWritable(camTL_mask))
+      {
+        ROS_ERROR("[SpinnakerCamera::setIP] Cannot force subnet mask on this device (TL level)");
+        return;
+      }
+      else
+      {
+        camTL_mask->SetValue(mask_);
+        ROS_INFO_STREAM("[SpinnakerCamera::setIP] Subnet mask set to " << convertIPtoStr(camTL_mask->GetValue()));
+      }
+
+      Spinnaker::GenApi::CIntegerPtr camTL_gateway = node_mapTL.GetNode("GevDeviceForceGateway");
+      if (!IsWritable(camTL_gateway))
+      {
+        ROS_ERROR("[SpinnakerCamera::setIP] Cannot force gateway on this device (TL level)");
+        return;
+      }
+      else
+      {
+        camTL_gateway->SetValue(gateway_);
+        ROS_INFO_STREAM("[SpinnakerCamera::setIP] Gateway set to " << convertIPtoStr(camTL_gateway->GetValue()));
+      }
+
+      Spinnaker::GenApi::CCommandPtr force_IP = node_mapTL.GetNode("GevDeviceForceIP");
+      if (!IsWritable(force_IP))
+      {
+        ROS_ERROR("[SpinnakerCamera::setIP] Cannot execute device force IP on this device");
+        return;
+      }
+      else
+      {
+        force_IP->Execute();
+      }
+
+      updateCameraPtr();
+    }
+
+    // Update parameters at camera level
+    if (pCam_ != nullptr)
+    {
+      Spinnaker::GenApi::INodeMap& node_mapTL = pCam_->GetTLDeviceNodeMap();  // Updated camera => update TL node map
+      Spinnaker::GenApi::CBooleanPtr is_wrong_subnet = node_mapTL.GetNode("GevDeviceIsWrongSubnet");
+
+      Spinnaker::GenApi::CStringPtr cam_serial = node_mapTL.GetNode("DeviceSerialNumber");
+
+      Spinnaker::GenApi::CIntegerPtr cam_ip = node_mapTL.GetNode("GevDeviceIPAddress");
+
+      if (!is_wrong_subnet->GetValue())
+      {
+        pCam_->Init();
+        Spinnaker::GenApi::INodeMap& node_map = pCam_->GetNodeMap();
+
+        Spinnaker::GenApi::CBooleanPtr is_IPConfig_persistent = node_map.GetNode("GevCurrentIPConfigurationPersistentIP");
+        if (!IsWritable(is_IPConfig_persistent))
+        {
+          ROS_ERROR("[SpinnakerCamera::setIP] Cannot set persistent IP address");
+          return;
+        }
+        else
+        {
+          is_IPConfig_persistent->SetValue(true);
+          ROS_INFO_STREAM("[SpinnakerCamera::setIP] Persistent IP config set to " << is_IPConfig_persistent->GetValue());
+        }
+
+        Spinnaker::GenApi::CIntegerPtr camIP = node_map.GetNode("GevPersistentIPAddress");
+        if (!IsWritable(camIP))
+        {
+          ROS_ERROR("[SpinnakerCamera::setIP] Cannot force IP on this device (camera level)");
+          is_IPConfig_persistent->SetValue(false);
+          return;
+        }
+        else
+        {
+          camIP->SetValue(ip_);
+        }
+
+        Spinnaker::GenApi::CIntegerPtr cam_mask = node_map.GetNode("GevPersistentSubnetMask");
+        if (!IsWritable(cam_mask))
+        {
+          ROS_ERROR("[SpinnakerCamera::setIP] Cannot force subnet mask on this device (camera level)");
+          is_IPConfig_persistent->SetValue(false);
+          return;
+        }
+        else
+        {
+          cam_mask->SetValue(mask_);
+        }
+
+        Spinnaker::GenApi::CIntegerPtr cam_gateway = node_map.GetNode("GevPersistentDefaultGateway");
+        if (!IsWritable(cam_gateway))
+        {
+          ROS_ERROR("[SpinnakerCamera::setIP] Cannot force gateway on this device (camera level)");
+          is_IPConfig_persistent->SetValue(false);
+          return;
+        }
+        else
+        {
+          cam_gateway->SetValue(gateway_);
+        }
+
+        ROS_INFO("[SpinnakerCamera::setIP] Finished camera network configuration");
+      }
+      else
+      {
+        throw std::runtime_error("[SpinnakerCamera::setIP] Camera is still on the wrong subnet. "
+                                  "Check your network configuration.");
+      }
+
+      // Let pCam_ state unchanged after changing IP
+      if (!is_cam_init && pCam_->IsInitialized())
+      {
+        pCam_->DeInit();
+      }
+      else if (is_cam_init && !pCam_->IsInitialized())
+      {
+        pCam_->Init();
+      }
+    }
+  }
+  catch(const Spinnaker::Exception& e)
+  {
+    std::runtime_error(e.what());
+  }
+}  // end setIP
+
+void SpinnakerCamera::tryAutoForceIP()
+{
+  Spinnaker::InterfaceList interfaces = system_->GetInterfaces();
+  for (unsigned int i = 0; i < interfaces.GetSize(); i++)
+  {
+    Spinnaker::InterfacePtr pInterface = interfaces.GetByIndex(i);
+    pInterface->UpdateCameras();
+    Spinnaker::GenApi::INodeMap& nodeMapInterface = pInterface->GetTLNodeMap();
+
+    Spinnaker::GenApi::CEnumerationPtr ptrInterfaceType = nodeMapInterface.GetNode("InterfaceType");
+    if (!IsAvailable(ptrInterfaceType) || !IsReadable(ptrInterfaceType))
+    {
+      ROS_ERROR_STREAM("[SpinnakerCamera::tryAutoForceIP] Unable to read InterfaceType for interface at index " << i);
+      continue;
+    }
+
+    if (ptrInterfaceType->GetIntValue() != Spinnaker::InterfaceTypeEnum::InterfaceType_GigEVision)
+    {
+      // Only force IP on GEV interface
+      continue;
+    }
+
+    Spinnaker::GenApi::CCommandPtr ptrAutoForceIP = nodeMapInterface.GetNode("GevDeviceAutoForceIP");
+    if (IsAvailable(ptrAutoForceIP) && IsWritable(ptrAutoForceIP))
+    {
+      if (!IsWritable(pInterface->TLInterface.DeviceSelector.GetAccessMode()))
+      {
+        ROS_ERROR("[SpinnakerCamera::tryAutoForceIP] Unable to write to the DeviceSelector node while forcing IP");
+      }
+      else
+      {
+        Spinnaker::CameraList cam_list = pInterface->GetCameras();
+        for (int i = 0; i < cam_list.GetSize(); i++)
+        {
+          Spinnaker::CameraPtr pCam = cam_list.GetByIndex(i);
+          if (!pCam_->GetUniqueID().compare(pCam->GetUniqueID()))
+          {
+            Spinnaker::GenApi::CStringPtr cam_serial = pCam->GetTLDeviceNodeMap().GetNode("DeviceSerialNumber");
+            ROS_INFO_STREAM("[SpinnakerCamera::tryAutoForceIP] Forced IP for camera with serial "
+                            << cam_serial->GetValue());
+
+            pInterface->TLInterface.DeviceSelector.SetValue(i);
+            pInterface->TLInterface.GevDeviceAutoForceIP.Execute();
+            break;
+          }
+        }
+        break;
+      }
+    }
+    else
+    {
+      ROS_WARN("[SpinnakerCamera::tryAutoForceIP] AutoForceIP not available for this interface");
+    }
+  }
+
+  interfaces.Clear();
+  updateCameraPtr();
+}
 
 void SpinnakerCamera::ConfigureChunkData(const Spinnaker::GenApi::INodeMap& nodeMap)
 {
diff --git a/spinnaker_camera_driver/src/camera.cpp b/spinnaker_camera_driver/src/camera.cpp
index c7b4956f..9c6fa6ab 100644
--- a/spinnaker_camera_driver/src/camera.cpp
+++ b/spinnaker_camera_driver/src/camera.cpp
@@ -42,10 +42,8 @@ void Camera::init()
     throw std::runtime_error("[Camera::init] Unable to read WidthMax");
   }
   width_max_ = width_max_ptr->GetValue();
-  // Set Throughput to maximum
-  //=====================================
-  setMaxInt(node_map_, "DeviceLinkThroughputLimit");
 }
+
 void Camera::setFrameRate(const float frame_rate)
 {
   // This enables the "AcquisitionFrameRateEnabled"
@@ -72,9 +70,12 @@ void Camera::setNewConfiguration(const SpinnakerConfig& config, const uint32_t&
     if (level >= LEVEL_RECONFIGURE_STOP)
       setImageControlFormats(config);
 
-    setFrameRate(static_cast<float>(config.acquisition_frame_rate));
-    // Set enable after frame rate encase its false
-    setProperty(node_map_, "AcquisitionFrameRateEnable", config.acquisition_frame_rate_enable);
+    if (config.acquisition_frame_rate_enable)
+    {
+      setFrameRate(static_cast<float>(config.acquisition_frame_rate));
+      // Set enable after frame rate encase its false
+      setProperty(node_map_, "AcquisitionFrameRateEnable", config.acquisition_frame_rate_enable);
+    }
 
     // Set Trigger and Strobe Settings
     // NOTE: The trigger must be disabled (i.e. TriggerMode = "Off") in order to configure whether the source is
@@ -176,6 +177,14 @@ void Camera::setNewConfiguration(const SpinnakerConfig& config, const uint32_t&
     {
       setProperty(node_map_, "AutoExposureLightingMode", config.auto_exposure_lighting_mode);
     }
+
+    Spinnaker::GenApi::CEnumerationPtr device_type_ptr = node_map_->GetNode("DeviceType");
+    if (config.gige_parameter_enable)
+    {
+      // setDeviceLinkThroughput(config.device_link_throughput_limit);
+      setProperty(node_map_, "DeviceLinkThroughputLimit", config.device_link_throughput_limit);
+      setGigEPacketSize(config.camera_packet_size);
+    }
   }
   catch (const Spinnaker::Exception& e)
   {
@@ -242,6 +251,18 @@ void Camera::setGain(const float& gain)
   setProperty(node_map_, "Gain", static_cast<float>(gain));
 }
 
+void Camera::setGigEPacketSize(const int size)
+{
+  if (size < packet_size_max_)
+  {
+    setProperty(node_map_, "GevSCPSPacketSize", size);
+  }
+  else
+  {
+    setProperty(node_map_, "GevSCPSPacketSize", static_cast<int>(packet_size_max_));
+  }
+}
+
 /*
 void Camera::setGigEParameters(bool auto_packet_size, unsigned int packet_size, unsigned int packet_delay)
 {
diff --git a/spinnaker_camera_driver/src/nodelet.cpp b/spinnaker_camera_driver/src/nodelet.cpp
index 1c8588d0..f072ba7c 100644
--- a/spinnaker_camera_driver/src/nodelet.cpp
+++ b/spinnaker_camera_driver/src/nodelet.cpp
@@ -299,6 +299,16 @@ class SpinnakerCameraNodelet : public nodelet::Nodelet
     spinnaker_.setDesiredCamera((uint32_t)serial);
 
     // Get GigE camera parameters:
+    std::string cam_ip;
+    pnh.param<std::string>("camera_ip", cam_ip, "0");
+    spinnaker_.setDesiredIP(cam_ip);
+    std::string cam_subnet;
+    pnh.param<std::string>("camera_mask", cam_subnet, "255.255.255.0");
+    spinnaker_.setDesiredSubnetMask(cam_subnet);
+    std::string gateway;
+    pnh.param<std::string>("subnet_gateway", gateway, "0");
+    spinnaker_.setDesiredGateway(gateway);
+
     pnh.param<int>("packet_size", packet_size_, 1400);
     pnh.param<bool>("auto_packet_size", auto_packet_size_, true);
     pnh.param<int>("packet_delay", packet_delay_, 4000);