diff --git a/.gitignore b/.gitignore
index 015af31..85bc658 100644
--- a/.gitignore
+++ b/.gitignore
@@ -101,3 +101,6 @@ ground_station/resources/core/key
 
 # Don't commit key file
 key
+
+# Remove build folder
+cmake-build-debug/
diff --git a/software/ros_packages/rover_camera/src/rover_camera.cpp b/software/ros_packages/rover_camera/src/rover_camera.cpp
index 8b396f8..244451c 100644
--- a/software/ros_packages/rover_camera/src/rover_camera.cpp
+++ b/software/ros_packages/rover_camera/src/rover_camera.cpp
@@ -181,7 +181,6 @@ private:
 
     cv::Mat image_rtsp_raw;
     cv::Mat image_rtsp_scaled;
-
     cv::Mat image_large;
     cv::Mat image_medium;
     cv::Mat image_small;
diff --git a/software/ros_packages/rover_camera/src/rover_camera_old.cpp b/software/ros_packages/rover_camera/src/rover_camera_old.cpp
new file mode 100644
index 0000000..032a9f7
--- /dev/null
+++ b/software/ros_packages/rover_camera/src/rover_camera_old.cpp
@@ -0,0 +1,88 @@
+#include <string>
+#include <iostream>
+
+#include <ros/ros.h>
+#include <ros/console.h>
+#include <image_transport/image_transport.h>
+#include <opencv2/opencv.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include <cv_bridge/cv_bridge.h>
+
+int main(int argc, char** argv)
+{
+    std::string capture_device_path;
+    int fps;
+
+    int large_image_width;
+    int large_image_height;
+    int medium_image_width;
+    int medium_image_height;
+    int small_image_width;
+    int small_image_height;
+
+    ros::init(argc, argv, "camera");
+    ros::NodeHandle node_handle("~");
+
+    node_handle.param("device_path", capture_device_path, std::string("/dev/video0"));
+    node_handle.param("fps", fps, 30);
+
+    node_handle.param("large_image_width", large_image_width, 1280);
+    node_handle.param("large_image_height", large_image_height, 720);
+    node_handle.param("medium_image_width", medium_image_width, 640);
+    node_handle.param("medium_image_height", medium_image_height, 360);
+    node_handle.param("small_image_width", small_image_width, 256);
+    node_handle.param("small_image_height", small_image_height, 144);
+
+    cv::VideoCapture cap(capture_device_path);
+
+    cap.set(CV_CAP_PROP_FOURCC, CV_FOURCC('M', 'J', 'P', 'G'));
+    cap.set(CV_CAP_PROP_FRAME_WIDTH, large_image_width);
+    cap.set(CV_CAP_PROP_FRAME_HEIGHT, large_image_height);
+    cap.set(CV_CAP_PROP_FPS, fps);
+
+    if(!cap.isOpened()){
+        return -1;
+    }
+
+    std::string large_image_node_name = "image_" + std::to_string(large_image_width) + "x" + std::to_string(large_image_height);
+    std::string medium_image_node_name = "image_" + std::to_string(medium_image_width) + "x" + std::to_string(medium_image_height);
+    std::string small_image_node_name = "image_" + std::to_string(small_image_width) + "x" + std::to_string(small_image_height);
+
+    image_transport::ImageTransport large_image_transport(node_handle);
+    image_transport::ImageTransport medium_image_transport(node_handle);
+    image_transport::ImageTransport small_image_transport(node_handle);
+
+    image_transport::Publisher large_image_publisher = large_image_transport.advertise(large_image_node_name, 1);
+    image_transport::Publisher medium_image_publisher = medium_image_transport.advertise(medium_image_node_name, 1);
+    image_transport::Publisher small_image_publisher = small_image_transport.advertise(small_image_node_name, 1);
+
+    cv::Mat image_large;
+    cv::Mat image_medium;
+    cv::Mat image_small;
+
+    ros::Rate loop_rate(fps + 2);
+
+    while (ros::ok()) {
+
+        cap.read(image_large);
+
+        if(!image_large.empty()){
+            cv::resize(image_large, image_medium, cv::Size(medium_image_width, medium_image_height));
+            cv::resize(image_medium, image_small, cv::Size(small_image_width, small_image_height));
+
+            sensor_msgs::ImagePtr large_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_large).toImageMsg();
+            sensor_msgs::ImagePtr medium_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_medium).toImageMsg();
+            sensor_msgs::ImagePtr small_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_small).toImageMsg();
+
+            large_image_publisher.publish(large_image_message);
+            medium_image_publisher.publish(medium_image_message);
+            small_image_publisher.publish(small_image_message);
+        }
+
+        ros::spinOnce();
+        loop_rate.sleep();
+    }
+
+    cap.release();
+}