diff --git a/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
index 38564f9..7ad71eb 100644
--- a/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
+++ b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
@@ -89,6 +89,8 @@ def __init__(self, shared_objects):
         rospy.Publisher("/cameras/undercarriage/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
         rospy.Publisher("/cameras/main_navigation/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
         rospy.Publisher("/cameras/end_effector/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
+        rospy.Publisher("/cameras/zed_left/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
+        rospy.Publisher("/cameras/point_cloud/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
 
         self.msleep(3000)
 
@@ -213,6 +215,7 @@ def __get_cameras(self):
 
         names = set(names)
 
+        #Remove zed camera from EXCLUDED_CAMERAS above once in use
         for camera in EXCLUDED_CAMERAS:
             if camera in names:
                 names.remove(camera)
@@ -235,6 +238,16 @@ def __get_cameras(self):
         if "end_effector" in names:
             self.valid_cameras.append("end_effector")
 
+        #Place two if statements below inside of larger scope
+        #if statement that checks if zed camera device is
+        #connected to rover before checking to append
+        if "zed_left" in names:
+            self.valid_cameras.append("zed_left")
+
+        if "point_cloud" in names:
+            self.valid_cameras.append("point_cloud")
+
+
     def __setup_video_threads(self):
         for camera in self.valid_cameras:
             self.camera_threads[camera] = RoverVideoReceiver.RoverVideoReceiver(camera)
diff --git a/software/ros_packages/nimbro_topic_transport/launch/camera_topics4.yaml b/software/ros_packages/nimbro_topic_transport/launch/camera_topics4.yaml
new file mode 100644
index 0000000..bf20d67
--- /dev/null
+++ b/software/ros_packages/nimbro_topic_transport/launch/camera_topics4.yaml
@@ -0,0 +1,4 @@
+topics:
+  - name: "/cameras/zed_left/image_1280x720/compressed"
+  compress: false # enable bz2 compression
+  rate: 30.0 #rate limit at 1Hz
diff --git a/software/ros_packages/nimbro_topic_transport/launch/camera_topics5.yaml b/software/ros_packages/nimbro_topic_transport/launch/camera_topics5.yaml
new file mode 100644
index 0000000..ca18053
--- /dev/null
+++ b/software/ros_packages/nimbro_topic_transport/launch/camera_topics5.yaml
@@ -0,0 +1,4 @@
+topics:
+  - name: "cameras/point_cloud/image_1280x720/compressed"
+  compress: false # enable bz2 compression
+  rate: 30.0 # rate limit at 1Hz
diff --git a/software/ros_packages/nimbro_topic_transport/launch/udp_camera_receiver.launch b/software/ros_packages/nimbro_topic_transport/launch/udp_camera_receiver.launch
index aa952cd..d3297eb 100644
--- a/software/ros_packages/nimbro_topic_transport/launch/udp_camera_receiver.launch
+++ b/software/ros_packages/nimbro_topic_transport/launch/udp_camera_receiver.launch
@@ -34,4 +34,12 @@
     <node name="udp_receiver9" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
         <param name="port" value="17009" />
     </node>
+
+    <node name="udp_receiver10" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17021" />
+    </node>
+
+    <node name="udp_receiver11" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17022" />
+    </node>
 </launch>
diff --git a/software/ros_packages/rover_camera/launch/example.launch b/software/ros_packages/rover_camera/launch/example.launch
index d657d4d..8c0d37b 100644
--- a/software/ros_packages/rover_camera/launch/example.launch
+++ b/software/ros_packages/rover_camera/launch/example.launch
@@ -13,6 +13,12 @@
       <param name="device_path" value="/dev/rover/camera_chassis" />
     </node>
 
+    <node name="zed_left" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 4" output="screen" >
+      <param name="device_path" value="/dev/rover/camera_zed_left" />
+    </node>
+
+    <node name="point_cloud" pkg="rover_camera" type="rover_camera" launch_prefix="taskset -c 5" output="screen" >
+      <param name="device_path" value="/dev/rover/camera_point_cloud" />
 
   </group>
 </launch>
diff --git a/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch b/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
index 0edc76d..ef77166 100644
--- a/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
+++ b/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
@@ -47,6 +47,14 @@
         <node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
             <param name="port" value="17012" />
         </node>
+
+        <node name="zed_left_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+            <param name="port" value="17021" />
+        </node>
+
+        <node name="point_cloud_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+            <param name="port" value="17022" />
+        <node>
     </group>
 
     <group>
diff --git a/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch b/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
index ab2f6a9..2d8b9c8 100644
--- a/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
+++ b/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
@@ -1,32 +1,176 @@
 <launch>
     <group ns="sender_transports">
-        <arg name="target" default="192.168.1.10" />
+        <arg name="target" default="192.168.1.15" />
 
-        <node name="ground_station_drive_udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+        <node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
             <param name="destination_addr" value="$(arg target)" />
-            <param name="destination_port" value="17100" />
+            <param name="destination_port" value="17001" />
             <rosparam param="topics">
-                [{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
-                {name: "/rover_control/tower/pan_tilt/control", compress: true, rate: 30.0},
-                {name: "/rover_control/chassis/pan_tilt/control", compress: true, rate: 30.0},
-                {name: "/rover_control/mining/control", compress: true, rate: 30.0},
-                {name: "/rover_control/mining/drill/control", compress: true, rate: 30.0},
-                {name: "/rover_arm/control/relative", compress: true, rate: 30.0},
-                {name: "/rover_control/gripper/control", compress: true, rate: 30.0}]
+                [{name: "/cameras/chassis/image_1280x720/compressed", compress: false, rate: 0.0}]
             </rosparam>
         </node>
 
-        <node name="ground_station_tcp_sender" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
+        <node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
             <param name="destination_addr" value="$(arg target)" />
-            <param name="destination_port" value="17101" />
+            <param name="destination_port" value="17002" />
             <rosparam param="topics">
-                [{name: "/cameras/chassis/camera_control", compress: false, rate: 5.0},
-                {name: "/cameras/undercarriage/camera_control", compress: false, rate: 5.0},
-                {name: "/cameras/main_navigation/camera_control", compress: false, rate: 5.0},
-                {name: "/cameras/end_effector/camera_control", compress: false, rate: 5.0},
-                {name: "/rover_status/update_requested", compress: false, rate: 5.0},
-                {name: "/rover_arm/control/absolute", compress: true, rate: 5.0},
-                {name: "/rover_control/camera/control", compress: true, rate: 5.0}]
+                [{name: "/cameras/undercarriage/image_1280x720/compressed", compress: false, rate: 0.0}]
+            </rosparam>
+        </node>
+
+        <node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17003" />
+            <rosparam param="topics">
+                [{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 0.0}]
+            </rosparam>
+        </node>
+
+        <node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17004" />
+            <rosparam param="topics">
+                [{name: "/cameras/end_effector/image_1280x720/compressed", compress: false, rate: 0.0}]
+            </rosparam>
+        </node>
+
+        <node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17005" />
+            <rosparam param="topics">
+                [{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 0.0}]
+            </rosparam>
+        </node>
+
+        <node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17006" />
+            <rosparam param="topics">
+                [{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 0.0}]
+            </rosparam>
+        </node>
+
+        <node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17007" />
+            <rosparam param="topics">
+                [{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 0.0}]
+            </rosparam>
+        </node>
+
+        <node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17008" />
+            <rosparam param="topics">
+                [{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 0.0}]
+            </rosparam>
+        </node>
+
+        <node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17009" />
+            <rosparam param="topics">
+                [{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 0.0}]
+            </rosparam>
+        </node>
+
+        <node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17010" />
+            <rosparam param="topics">
+                [{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 0.0}]
+            </rosparam>
+        </node>
+
+        <node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17011" />
+            <rosparam param="topics">
+                [{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 0.0}]
+            </rosparam>
+        </node>
+
+        <node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17012" />
+            <rosparam param="topics">
+                [{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 0.0}]
+            </rosparam>
+        </node>
+
+        <node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17013" />
+            <rosparam param="topics">
+                [{name: "/rover_status/wheel_status", compress: false, rate: 1.0}]
+            </rosparam>
+        </node>
+
+        <node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17014" />
+            <rosparam param="topics">
+                [{name: "/rover_status/camera_status", compress: false, rate: 1.0}]
+            </rosparam>
+        </node>
+
+        <node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17015" />
+            <rosparam param="topics">
+                [{name: "/rover_status/frsky_status", compress: false, rate: 1.0}]
+            </rosparam>
+        </node>
+
+        <node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17016" />
+            <rosparam param="topics">
+                [{name: "/rover_status/gps_status", compress: false, rate: 1.0},
+                {name: "/rover_odometry/gps/fix", compress: false, rate: 5.0}]
+            </rosparam>
+        </node>
+
+        <node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17017" />
+            <rosparam param="topics">
+                [{name: "/rover_status/jetson_status", compress: false, rate: 1.0}]
+            </rosparam>
+        </node>
+
+        <node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17018" />
+            <rosparam param="topics">
+                [{name: "/rover_status/misc_status", compress: false, rate: 1.0}]
+            </rosparam>
+        </node>
+
+        <node name="udp_statuses_sender" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17019" />
+            <rosparam param="topics">
+                [
+                {name: "/rover_status/battery_status", compress: false, rate: 1.0},
+                {name: "/rover_control/tower/status/co2", compress: false, rate: 1.0},
+                {name: "/rover_odometry/imu/data", compress: false, rate: 10.0},
+                {name: "/rover_control/mining/status", compress: false, rate: 5.0},
+                {name: "/rover_control/gripper/status", compress: false, rate: 5.0},
+                {name: "/rover_science/soil_probe/data", compress: false, rate: 5.0},
+                {name: "/rover_science/rdf/data", compress: false, rate: 50.0},
+                {name: "/rover_control/scale/measurement", compress: false, rate: 20.0}
+                ]
+            </rosparam>
+        </node>
+
+        <node name="arm_status_udp_sender" pkg="nimbro_topic_transport" type="udp_sender">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17020" />
+            <rosparam param="topics">
+                [
+                {name: "/rover_arm/status", compress: false, rate: 5.0}
+                ]
             </rosparam>
         </node>
     </group>