# New Version of raspicam\_node (0.4.0)

**URL:** <https://forum.ubiquityrobotics.com/t/new-version-of-raspicam-node-0-4-0/193>\
**Category:** Annoucements\
**Created:** [November 7, 2018, 5:59pm UTC](https://forum.ubiquityrobotics.com/t/new-version-of-raspicam-node-0-4-0/193 "2018-11-07T17:59:09Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\
**Post date:** [November 7, 2018, 5:59pm UTC](https://forum.ubiquityrobotics.com/t/new-version-of-raspicam-node-0-4-0/193/1 "2018-11-07T17:59:09Z")

</div>

The biggest improvement for most people is in the close time, raspicam\_node now closes almost instantly on `Ctrl-C` instead of taking several seconds.

It is now available via `sudo apt update; sudo apt upgrade`

Complete changelog:

- Add support for optionally publishing raw image
- Add parameter for selecting the camera id (Compute Module Only)
- Don’t allocate new messages for every frame
- Cleanup log noise
- Fix gcc warnings (enable -Wall)
- Fix dynamic reconfigure bug (Fixes [#31](https://github.com/UbiquityRobotics/raspicam_node/issues/31))
- Remove old unused cruft
- Use unique\_ptr with custom deleters to manage mmal components
- Pass state around by reference instead of as a global
- Use C++14
- Use clang format from [https://github.com/davetcoleman/roscpp\_code\_format](https://github.com/davetcoleman/roscpp_code_format)
- Contributors: Jose Eduardo Laruta Espejo, Rohan Agrawal

Rohan