diff --git a/ifm3d_ros_driver/CMakeLists.txt b/ifm3d_ros_driver/CMakeLists.txt
index 78ccdb0..634c40c 100644
--- a/ifm3d_ros_driver/CMakeLists.txt
+++ b/ifm3d_ros_driver/CMakeLists.txt
@@ -21,7 +21,7 @@ find_package(catkin REQUIRED COMPONENTS
              ifm3d_ros_msgs
              )
 
-catkin_python_setup()
+# catkin_python_setup()
 
 option(CATKIN_ENABLE_TESTING "Build tests" OFF)
 
diff --git a/ifm3d_ros_driver/doc/dump_and_config.md b/ifm3d_ros_driver/doc/dump_and_config.md
index 9439bcf..5ca1094 100644
--- a/ifm3d_ros_driver/doc/dump_and_config.md
+++ b/ifm3d_ros_driver/doc/dump_and_config.md
@@ -18,187 +18,63 @@ Per camera head connected to the visual processing unit (VPU) of the O3R platfor
 
 As you can see the two services `Dump` and `Config` are also part of this list. 
 ### Dump
-Call this service via, e.g. for camera1:
+Calling the native rosservice `/ifm3d_ros_examples/camera/Dump` for a certain `camera` will return a string containing with the camera configuration as a JSON string. Please notice the use of backslashes (`\` before each `"`) to esacpe each upper quotation mark. This is necessary to allow us to keep the JSON syntax native to the underlying API (ifm3d).  
+
+>Note: We have mapped some camera configurations to native rosservice calls to make their handling easier, e.g. `rosservice call /ifm3d_ros_examples/camera/SoftOn`. If you think you will benefit from similar rosservices, please let us know so we can add more comfort handling.
+
+Call this service via, e.g. for camera:
 ```
-$ rosservice call /ifm3d_ros_examples/camera1/Dump
+$ rosservice call /ifm3d_ros_examples/camera/Dump 
 status: 0
-{
-  "device": {
-    "clock": {
-      "currentTime": 1581193835185485800
-    },
-    "diagnostic": {
-      "temperatures": [],
-      "upTime": 103190000000000
-    },
-    "info": {
-      "device": "0301",
-      "deviceTreeBinaryBlob": "tegra186-quill-p3310-1000-c03-00-base.dtb",
-      "features": {},
-      "name": "",
-      "  partNumber": "M03975",
-      "productionState": "AA",
-      "serialNumber": "000201234160",
-      "vendor": "0001"
-    },
-    "network": {
-      "authorized_keys": "",
-      "ipAddressConfig": 0,
-      "macEth0": "00:04:4B:EA:9F:0E",
-      "macEth1": "00:02:01:23:41:60",
-      "networkSpeed": 1000,
-      "staticIPv4Address": "192.168.0.69",
-      "staticIPv4Gateway": "192.168.0.201",
-      "staticIPv4SubNetMask": "255.255.255.0",
-      "useDHCP": false
-    },
-    "state": {
-      "errorMessage": "",
-      "errorNumber": ""
-    },
-    "swVersion": {
-      "kernel": "4.9.140-l4t-r32.4+gc35f5eb9d1d9",
-      "l4t": "r32.4.3",
-      "os": "0.13.13-221",
-      "schema": "v0.1.0",
-      "swu": "0.15.12"
-    }
-  },
-  "ports": {
-    "port0": {
-      "acquisition": {
-        "framerate": 10,
-        "version": {
-          "major": 0,
-          "minor": 0,
-          "patch": 0
-        }
-      },
-      "data": {
-        "algoDebugConfig": {},
-        "availablePCICOutput": [],
-        "pcicTCPPort": 50010
-      },
-      "info": {
-        "device": "2301",
-        "deviceTreeBinaryBlobOverlay": "001-ov9782.dtbo",
-        "features": {
-          "fov": {
-            "horizontal": 127,
-            "vertical": 80
-          },
-          "  resolution": {
-            "height": 800,
-            "width": 1280
-          },
-          "type": "2D"
-        },
-        "name": "",
-        "partNumber": "M03969",
-        "productionState": "AA",
-        "sensor": "OV9782",
-        "sensorID": "OV9782_127x80_noIllu_Csample",
-        "serialNumber": "000000000382",
-        "vendor": "0001"
-      },
-      "mode": "experimental_autoexposure2D",
-      "processing": {
-        "extrinsicHeadToUser": {
-          "rotX": 0,
-          "rotY": 0,
-          "rotZ": 0,
-          "  transX": 0,
-          "transY": 0,
-          "transZ": 0
-        },
-        "version": {
-          "major": 0,
-          "minor": 0,
-          "  patch": 0
-        }
-      },
-      "state": "RUN"
-    },
-    "port2": {
-      "acquisition": {
-        "exposureLong": 5000,
-        "  exposureShort": 400,
-        "framerate": 10,
-        "offset": 0,
-        "version": {
-          "major": 0,
-          "  minor": 0,
-          "patch": 0
-        }
-      },
-      "data": {
-        "algoDebugConfig": {},
-        "availablePCICOutput": [],
-        "pcicTCPPort": 50012
-      },
-      "info": {
-        "device": "3101",
-        "deviceTreeBinaryBlobOverlay": "001-irs2381c.dtbo",
-        "features": {
-          "fov": {
-            "horizontal": 105,
-            "vertical": 78
-          },
-          "  resolution": {
-            "height": 172,
-            "width": 224
-          },
-          "type": "3D"
-        },
-        "name": "",
-        "partNumber": "M03969",
-        "productionState": "AA",
-        "sensor": "IRS2381C",
-        "sensorID": "IRS2381C_105x78_4x2W_110x90_C7",
-        "serialNumber": "000000000382",
-        "vendor": "0001"
-      },
-      "mode": "standard_range4m",
-      "processing": {
-        "diParam": {
-          "anfFilterSizeDiv2": 2,
-          "enableDynamicSymmetry": true,
-          "enableStraylight": true,
-          "enableTemporalFilter": true,
-          "excessiveCorrectionThreshAmp": 0.3,
-          "excessiveCorrectionThreshDist": 0.08,
-          "maxDistNoise": 0.02,
-          "maxSymmetry": 0.4,
-          "medianSizeDiv2": 0,
-          "minAmplitude": 20,
-          "minReflectivity": 0,
-          "mixedPixelFilterMode": 1,
-          "mixedPixelThresholdRad": 0.15
-        },
-        "extrinsicHeadToUser": {
-          "rotX": 1,
-          "rotY": 0,
-          "rotZ": 0,
-          "transX": 100,
-          "transY": 0,
-          "transZ": 0
-        },
-        "version": {
-          "  major": 0,
-          "minor": 0,
-          "patch": 0
-        }
-      },
-      "state": "RUN"
-    }
-  }
-}
+config: "{\"device\":{\"clock\":{\"currentTime\":1581287336449588512},\"diagnostic\":{\"temperatures\"\
+  :[],\"upTime\":196692000000000},\"info\":{\"device\":\"0301\",\"deviceTreeBinaryBlob\"\
+  :\"tegra186-quill-p3310-1000-c03-00-base.dtb\",\"features\":{},\"name\":\"test\"\
+  ,\"partNumber\":\"M03975\",\"productionState\":\"AA\",\"serialNumber\":\"000201234160\"\
+  ,\"vendor\":\"0001\"},\"network\":{\"authorized_keys\":\"\",\"ipAddressConfig\"\
+  :0,\"macEth0\":\"00:04:4B:EA:9F:0E\",\"macEth1\":\"00:02:01:23:41:60\",\"networkSpeed\"\
+  :1000,\"staticIPv4Address\":\"192.168.0.69\",\"staticIPv4Gateway\":\"192.168.0.201\"\
+  ,\"staticIPv4SubNetMask\":\"255.255.255.0\",\"useDHCP\":false},\"state\":{\"errorMessage\"\
+  :\"\",\"errorNumber\":\"\"},\"swVersion\":{\"kernel\":\"4.9.140-l4t-r32.4+gc35f5eb9d1d9\"\
+  ,\"l4t\":\"r32.4.3\",\"os\":\"0.13.13-221\",\"schema\":\"v0.1.0\",\"swu\":\"0.15.12\"\
+  }},\"ports\":{\"port0\":{\"acquisition\":{\"framerate\":10.0,\"version\":{\"major\"\
+  :0,\"minor\":0,\"patch\":0}},\"data\":{\"algoDebugConfig\":{},\"availablePCICOutput\"\
+  :[],\"pcicTCPPort\":50010},\"info\":{\"device\":\"2301\",\"deviceTreeBinaryBlobOverlay\"\
+  :\"001-ov9782.dtbo\",\"features\":{\"fov\":{\"horizontal\":127,\"vertical\":80},\"\
+  resolution\":{\"height\":800,\"width\":1280},\"type\":\"2D\"},\"name\":\"\",\"partNumber\"\
+  :\"M03969\",\"productionState\":\"AA\",\"sensor\":\"OV9782\",\"sensorID\":\"OV9782_127x80_noIllu_Csample\"\
+  ,\"serialNumber\":\"000000000382\",\"vendor\":\"0001\"},\"mode\":\"experimental_autoexposure2D\"\
+  ,\"processing\":{\"extrinsicHeadToUser\":{\"rotX\":0.0,\"rotY\":0.0,\"rotZ\":0.0,\"\
+  transX\":0.0,\"transY\":0.0,\"transZ\":0.0},\"version\":{\"major\":0,\"minor\":0,\"\
+  patch\":0}},\"state\":\"RUN\"},\"port2\":{\"acquisition\":{\"exposureLong\":5000,\"\
+  exposureShort\":400,\"framerate\":10.0,\"offset\":0.0,\"version\":{\"major\":0,\"\
+  minor\":0,\"patch\":0}},\"data\":{\"algoDebugConfig\":{},\"availablePCICOutput\"\
+  :[],\"pcicTCPPort\":50012},\"info\":{\"device\":\"3101\",\"deviceTreeBinaryBlobOverlay\"\
+  :\"001-irs2381c.dtbo\",\"features\":{\"fov\":{\"horizontal\":105,\"vertical\":78},\"\
+  resolution\":{\"height\":172,\"width\":224},\"type\":\"3D\"},\"name\":\"\",\"partNumber\"\
+  :\"M03969\",\"productionState\":\"AA\",\"sensor\":\"IRS2381C\",\"sensorID\":\"IRS2381C_105x78_4x2W_110x90_C7\"\
+  ,\"serialNumber\":\"000000000382\",\"vendor\":\"0001\"},\"mode\":\"standard_range2m\"\
+  ,\"processing\":{\"diParam\":{\"anfFilterSizeDiv2\":2,\"enableDynamicSymmetry\"\
+  :true,\"enableStraylight\":true,\"enableTemporalFilter\":true,\"excessiveCorrectionThreshAmp\"\
+  :0.3,\"excessiveCorrectionThreshDist\":0.08,\"maxDistNoise\":0.02,\"maxSymmetry\"\
+  :0.4,\"medianSizeDiv2\":0,\"minAmplitude\":20.0,\"minReflectivity\":0.0,\"mixedPixelFilterMode\"\
+  :1,\"mixedPixelThresholdRad\":0.15},\"extrinsicHeadToUser\":{\"rotX\":0.0,\"rotY\"\
+  :0.0,\"rotZ\":0.0,\"transX\":0.0,\"transY\":0.0,\"transZ\":0.0},\"version\":{\"\
+  major\":0,\"minor\":0,\"patch\":0}},\"state\":\"RUN\"}}}"
 ```
 ## Config
 Below you can see an example on how to configure your camera via a rosservice call. The JSON string can be a partial JSON string. It only needs to follow basic JSON syntax.
 
 ```
-rosservice call /ifm3d_ros_examples/camera2/Config "json: '{"ports": {"port2": {"state": "RUN"}}}'" 
+$ rosservice call /ifm3d_ros_examples/camera/Config "json: '{\"ports\":{\"port2\":{\"mode\":\"standard_range2m\"}}}'" 
+status: 0
+msg: "OK"
+```
+
+This is equivalent to:
+```
+$ rosservice call /ifm3d_ros_examples/camera/Config '"{\"ports\":{\"port2\":{\"mode\":\"standard_range2m\"}}}"'
+status: 0
+msg: "OK"
 
 ```
 
@@ -211,7 +87,10 @@ They are part of the `ifm3d_ros_msgs` subpackage, so if you can't access them pl
 For example, to dump the state of the camera:  
 (exemplary output from an O3R perception platform with one camera head connected is shown)
 
+>Note: The service proxying only works on the `/ifm3d_ros_examples/camera/` namespace at the moment.
+
 ```
+$ roslaunch ifm3d_ros_examples camera.launch &
 $ rosrun ifm3d_ros_msgs dump
 {
   "device": {
diff --git a/ifm3d_ros_driver/pylib/ifm3d/__pycache__/_ConfigClient.cpython-38.pyc b/ifm3d_ros_driver/pylib/ifm3d/__pycache__/_ConfigClient.cpython-38.pyc
deleted file mode 100644
index 5630c50..0000000
Binary files a/ifm3d_ros_driver/pylib/ifm3d/__pycache__/_ConfigClient.cpython-38.pyc and /dev/null differ
diff --git a/ifm3d_ros_driver/pylib/ifm3d/__pycache__/_DumpClient.cpython-38.pyc b/ifm3d_ros_driver/pylib/ifm3d/__pycache__/_DumpClient.cpython-38.pyc
deleted file mode 100644
index 92db5cf..0000000
Binary files a/ifm3d_ros_driver/pylib/ifm3d/__pycache__/_DumpClient.cpython-38.pyc and /dev/null differ
diff --git a/ifm3d_ros_driver/src/camera_nodelet.cpp b/ifm3d_ros_driver/src/camera_nodelet.cpp
index a7bc321..bd4d7e6 100644
--- a/ifm3d_ros_driver/src/camera_nodelet.cpp
+++ b/ifm3d_ros_driver/src/camera_nodelet.cpp
@@ -183,7 +183,7 @@ bool ifm3d_ros::CameraNodelet::Config(ifm3d_ros_msgs::Config::Request& req, ifm3
 
   try
   {
-    this->cam_->FromJSON(req.json);
+    this->cam_->FromJSON(json::parse(req.json));
   }
   catch (const ifm3d::error_t& ex)
   {
diff --git a/ifm3d_ros_examples/launch/four_cameras.launch b/ifm3d_ros_examples/launch/four_cameras.launch
index 3a82ca4..6ee2d6f 100644
--- a/ifm3d_ros_examples/launch/four_cameras.launch
+++ b/ifm3d_ros_examples/launch/four_cameras.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- This lauch file is an example for how to use four camera heads at the same time: their data will be transformed into a collective reference frame witout any relative calibration in 3D. -->
+  <!-- This lauch file is an example for how to use four camera heads at the same time: their data will be transformed into a collective reference frame without any relative calibration in 3D. -->
 
   <!-- Command-line arguments -->
   <arg name="namespace" default="ifm3d_ros_examples" doc="Desired namespace for the camera nodelet" />
diff --git a/ifm3d_ros_examples/launch/six_cameras.launch b/ifm3d_ros_examples/launch/six_cameras.launch
index ca81835..b8a2807 100644
--- a/ifm3d_ros_examples/launch/six_cameras.launch
+++ b/ifm3d_ros_examples/launch/six_cameras.launch
@@ -8,6 +8,8 @@
   <arg name="nodelet_name2" default="camera2"/>
   <arg name="nodelet_name3" default="camera3"/>
   <arg name="nodelet_name4" default="camera4"/>
+  <arg name="nodelet_name5" default="camera5"/>
+  <arg name="nodelet_name6" default="camera6"/>
   <arg name="ip" default="192.168.0.69" doc="The IP address of the VPU, i.e. main processing unit." />
   <arg name="xmlrpc_port" default="80" doc="The TCP port the camera's xmlrpc server is listening on for requests."/>
   <arg name="pcic_port_1" default="50010" doc="The TCP (data) port the first camera's pcic server is listening on for requests."/>
@@ -86,7 +88,7 @@
 
   <!-- node 5 -->
   <include ns="$(arg namespace)" file="$(find ifm3d_ros_examples)/launch/nodelet.launch">
-    <arg name="camera" value="$(arg nodelet_name4)"/>
+    <arg name="camera" value="$(arg nodelet_name5)"/>
     <arg name="ip" value="$(arg ip)"/>
     <arg name="xmlrpc_port" value="$(arg xmlrpc_port)"/>
     <arg name="pcic_port" value="$(arg pcic_port_5)"/>
@@ -101,7 +103,7 @@
 
   <!-- node 6 -->
   <include ns="$(arg namespace)" file="$(find ifm3d_ros_examples)/launch/nodelet.launch">
-    <arg name="camera" value="$(arg nodelet_name4)"/>
+    <arg name="camera" value="$(arg nodelet_name6)"/>
     <arg name="ip" value="$(arg ip)"/>
     <arg name="xmlrpc_port" value="$(arg xmlrpc_port)"/>
     <arg name="pcic_port" value="$(arg pcic_port_6)"/>
@@ -117,38 +119,38 @@
    <!-- coord frame transform from ROS sensor frame to static map frame (no egomotion) -->
   <node pkg="tf2_ros"
         type="static_transform_publisher"
-        name="$(arg nn1)_tf"
-        args="0 0 0 0 0 0 map $(arg ns)/$(arg nn1)_link"
+        name="$(arg nodelet_name1)_tf"
+        args="0 0 0 0 0 0 map $(arg namespace)/$(arg nodelet_name1)_link"
         respawn="$(arg respawn)" />
 
   <node pkg="tf2_ros"
         type="static_transform_publisher"
-        name="$(arg nn2)_tf"
-        args="0 0 0 0 0 0 map $(arg ns)/$(arg nn2)_link"
+        name="$(arg nodelet_name2)_tf"
+        args="0 0 0 0 0 0 map $(arg namespace)/$(arg nodelet_name2)_link"
         respawn="$(arg respawn)" />
 
   <node pkg="tf2_ros"
         type="static_transform_publisher"
-        name="$(arg nn3)_tf"
-        args="0 0 0 0 0 0 map $(arg ns)/$(arg nn3)_link"
+        name="$(arg nodelet_name3)_tf"
+        args="0 0 0 0 0 0 map $(arg namespace)/$(arg nodelet_name3)_link"
         respawn="$(arg respawn)" />
 
   <node pkg="tf2_ros"
         type="static_transform_publisher"
-        name="$(arg nn4)_tf"
-        args="0 0 0 0 0 0 map $(arg ns)/$(arg nn4)_link"
+        name="$(arg nodelet_name4)_tf"
+        args="0 0 0 0 0 0 map $(arg namespace)/$(arg nodelet_name4)_link"
         respawn="$(arg respawn)" />  
 
   <node pkg="tf2_ros"
         type="static_transform_publisher"
-        name="$(arg nn5)_tf"
-        args="0 0 0 0 0 0 map $(arg ns)/$(arg nn5)_link"
+        name="$(arg nodelet_name5)_tf"
+        args="0 0 0 0 0 0 map $(arg namespace)/$(arg nodelet_name5)_link"
         respawn="$(arg respawn)" />  
 
   <node pkg="tf2_ros"
         type="static_transform_publisher"
-        name="$(arg nn6)_tf"
-        args="0 0 0 0 0 0 map $(arg ns)/$(arg nn6)_link"
+        name="$(arg nodelet_name6)_tf"
+        args="0 0 0 0 0 0 map $(arg namespace)/$(arg nodelet_name6)_link"
         respawn="$(arg respawn)" />  
 
 </launch>
diff --git a/ifm3d_ros_msgs/CMakeLists.txt b/ifm3d_ros_msgs/CMakeLists.txt
index 0091b92..df3e3f0 100644
--- a/ifm3d_ros_msgs/CMakeLists.txt
+++ b/ifm3d_ros_msgs/CMakeLists.txt
@@ -10,6 +10,7 @@ find_package(catkin REQUIRED COMPONENTS
 #######################################
 ## Declare ROS messages and services ##
 #######################################
+catkin_python_setup()
 
 add_message_files(
   DIRECTORY msg
diff --git a/ifm3d_ros_msgs/bin/config b/ifm3d_ros_msgs/bin/config
index ac5c29c..470fb17 100755
--- a/ifm3d_ros_msgs/bin/config
+++ b/ifm3d_ros_msgs/bin/config
@@ -6,7 +6,7 @@
 
 
 import sys
-from ifm3d import ConfigClient
+from ifm3d_ros_utils import ConfigClient
 
 if __name__ == '__main__':
     sys.exit(ConfigClient().run())
diff --git a/ifm3d_ros_msgs/bin/dump b/ifm3d_ros_msgs/bin/dump
index 2fd1789..396285c 100755
--- a/ifm3d_ros_msgs/bin/dump
+++ b/ifm3d_ros_msgs/bin/dump
@@ -6,7 +6,7 @@
 
 
 import sys
-from ifm3d import DumpClient
+from ifm3d_ros_utils import DumpClient
 
 if __name__ == '__main__':
     sys.exit(DumpClient().run())
diff --git a/ifm3d_ros_driver/setup.py b/ifm3d_ros_msgs/setup.py
similarity index 73%
rename from ifm3d_ros_driver/setup.py
rename to ifm3d_ros_msgs/setup.py
index 3a020c2..412b54b 100644
--- a/ifm3d_ros_driver/setup.py
+++ b/ifm3d_ros_msgs/setup.py
@@ -3,8 +3,8 @@
 
 # reads package.xml
 setup_args = generate_distutils_setup(
-    packages=['ifm3d'],
-    package_dir={'': 'pylib'},
+    packages=['ifm3d_ros_utils'],
+    package_dir={'': 'utils'},
     )
 
 setup(**setup_args)
diff --git a/ifm3d_ros_driver/pylib/ifm3d/_ConfigClient.py b/ifm3d_ros_msgs/utils/ifm3d_ros_utils/_ConfigClient.py
similarity index 88%
rename from ifm3d_ros_driver/pylib/ifm3d/_ConfigClient.py
rename to ifm3d_ros_msgs/utils/ifm3d_ros_utils/_ConfigClient.py
index f4cf455..1f5fbe1 100644
--- a/ifm3d_ros_driver/pylib/ifm3d/_ConfigClient.py
+++ b/ifm3d_ros_msgs/utils/ifm3d_ros_utils/_ConfigClient.py
@@ -9,10 +9,10 @@
 import json
 import rospy
 import sys
-from ifm3d.srv import Config
+from ifm3d_ros_msgs.srv import Config
 
 SRV_TIMEOUT = 2.0 # seconds
-SRV_NAME = "/ifm3d/camera/Config"
+SRV_NAME = "/ifm3d_ros_examples/camera/Config"
 
 class ConfigClient(object):
 
diff --git a/ifm3d_ros_driver/pylib/ifm3d/_DumpClient.py b/ifm3d_ros_msgs/utils/ifm3d_ros_utils/_DumpClient.py
similarity index 91%
rename from ifm3d_ros_driver/pylib/ifm3d/_DumpClient.py
rename to ifm3d_ros_msgs/utils/ifm3d_ros_utils/_DumpClient.py
index b16941a..3b45a8f 100644
--- a/ifm3d_ros_driver/pylib/ifm3d/_DumpClient.py
+++ b/ifm3d_ros_msgs/utils/ifm3d_ros_utils/_DumpClient.py
@@ -8,10 +8,10 @@
 import json
 import rospy
 import sys
-from ifm3d.srv import Dump
+from ifm3d_ros_msgs.srv import Dump
 
 SRV_TIMEOUT = 2.0 # seconds
-SRV_NAME = "/ifm3d/camera/Dump"
+SRV_NAME = "/ifm3d_ros_examples/camera/Dump"
 
 class DumpClient(object):
 
diff --git a/ifm3d_ros_driver/pylib/ifm3d/__init__.py b/ifm3d_ros_msgs/utils/ifm3d_ros_utils/__init__.py
similarity index 100%
rename from ifm3d_ros_driver/pylib/ifm3d/__init__.py
rename to ifm3d_ros_msgs/utils/ifm3d_ros_utils/__init__.py