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We have an identical Firefly camera in our lab. Point Grey provides a library to interface with the camera as it does not work like a normal webcam, at least not as far as I can tell. A guy in our lab wrote a wrapper around that library which basically grabs the image data via the library and publishes it via ROS. I can try and see if I get the code in a format that others can use it. I'm not sure if we can directly distribute the library provided by Point Grey but at least the wrapper should be no problem.

There is, however, a caveat and that is that the library provided by Point Grey only works with antique versions of Ubuntu, 10.04 or something along those lines. They linked against some very dated libraries which means that newer versions of the used libraries have different symbol names.

If no one else knows of a better way to get that camera up and running I'll see what I can do on my end to make the code available.