voxl-camera-server is built around the Modal Pipe Architecture (using libmodal_pipe) to serve up MIPI cameras to multiple clients. On top of this architecture are client applications for ROS, RTSP, Docker, and many more.
Whenever cameras are plugged/unplugged (which should always happen when the board is powered off), make sure to run voxl-configure-cameras
The VOXL Streamer application can be used to stream video from voxl-camera-server.
The VOXL MPA to ROS node can be used to provide data coming out of camera server to ROS.