diff --git a/depthai-ros/CHANGELOG.rst b/depthai-ros/CHANGELOG.rst
index 257723c2..7af7d5e7 100644
--- a/depthai-ros/CHANGELOG.rst
+++ b/depthai-ros/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.5 (2023-08-07)
+-------------------
+* IMU sync fix
+
 2.7.4 (2023-06-26)
 -------------------
 * ROS time update
diff --git a/depthai-ros/CMakeLists.txt b/depthai-ros/CMakeLists.txt
index 442342b7..28e63452 100644
--- a/depthai-ros/CMakeLists.txt
+++ b/depthai-ros/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 
-project(depthai-ros VERSION 2.7.4 LANGUAGES CXX C)
+project(depthai-ros VERSION 2.7.5 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 
diff --git a/depthai-ros/package.xml b/depthai-ros/package.xml
index 97732f87..2be1cd74 100644
--- a/depthai-ros/package.xml
+++ b/depthai-ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai-ros</name>
-  <version>2.7.4</version>
+  <version>2.7.5</version>
   <description>The depthai-ros package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
diff --git a/depthai_bridge/CMakeLists.txt b/depthai_bridge/CMakeLists.txt
index 4d291c1e..6930d4df 100644
--- a/depthai_bridge/CMakeLists.txt
+++ b/depthai_bridge/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-project(depthai_bridge VERSION 2.7.4 LANGUAGES CXX C)
+project(depthai_bridge VERSION 2.7.5 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
diff --git a/depthai_bridge/include/depthai_bridge/ImageConverter.hpp b/depthai_bridge/include/depthai_bridge/ImageConverter.hpp
index 834f4e05..6df9253c 100644
--- a/depthai_bridge/include/depthai_bridge/ImageConverter.hpp
+++ b/depthai_bridge/include/depthai_bridge/ImageConverter.hpp
@@ -6,7 +6,7 @@
 #include <tuple>
 #include <unordered_map>
 
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "depthai-shared/common/CameraBoardSocket.hpp"
 #include "depthai-shared/common/Point2f.hpp"
 #include "depthai/device/CalibrationHandler.hpp"
diff --git a/depthai_bridge/include/depthai_bridge/ImuConverter.hpp b/depthai_bridge/include/depthai_bridge/ImuConverter.hpp
index cc2b1546..6cf7a36d 100644
--- a/depthai_bridge/include/depthai_bridge/ImuConverter.hpp
+++ b/depthai_bridge/include/depthai_bridge/ImuConverter.hpp
@@ -108,17 +108,25 @@ class ImuConverter {
             }
 
             if(_syncMode == ImuSyncMethod::LINEAR_INTERPOLATE_ACCEL) {
-                if(accelHist.size() < 3) {
+                if(accelHist.size() < 3 && gyroHist.size() && rotationHist.size() && magnHist.size()) {
                     continue;
                 } else {
-                    interpolate(accelHist, gyroHist, rotationHist, magnHist, imuMsgs);
+                    if(_enable_rotation) {
+                        interpolate(accelHist, gyroHist, rotationHist, magnHist, imuMsgs);
+                    } else {
+                        interpolate(accelHist, gyroHist, imuMsgs);
+                    }
                 }
 
             } else if(_syncMode == ImuSyncMethod::LINEAR_INTERPOLATE_GYRO) {
-                if(gyroHist.size() < 3) {
+                if(gyroHist.size() < 3 && accelHist.size() && rotationHist.size() && magnHist.size()) {
                     continue;
                 } else {
-                    interpolate(gyroHist, accelHist, rotationHist, magnHist, imuMsgs);
+                    if(_enable_rotation) {
+                        interpolate(gyroHist, accelHist, rotationHist, magnHist, imuMsgs);
+                    } else {
+                        interpolate(gyroHist, accelHist, imuMsgs);
+                    }
                 }
             }
         }
@@ -159,6 +167,67 @@ class ImuConverter {
         msg.header.stamp = getFrameTime(_rosBaseTime, _steadyBaseTime, timestamp);
     }
 
+    template <typename I, typename S, typename M>
+    void CreateUnitMessage(I first, S second, M& msg, std::chrono::_V2::steady_clock::time_point timestamp) {
+        fillImuMsg(first, msg);
+        fillImuMsg(second, msg);
+
+        msg.header.frame_id = _frameName;
+
+        msg.header.stamp = getFrameTime(_rosBaseTime, _steadyBaseTime, timestamp);
+    }
+
+    template <typename I, typename S, typename M>
+    void interpolate(std::deque<I>& interpolated, std::deque<S>& second, std::deque<M>& imuMsgs) {
+        I interp0, interp1;
+        S currSecond;
+        interp0.sequence = -1;
+        while(interpolated.size()) {
+            if(interp0.sequence == -1) {
+                interp0 = interpolated.front();
+                interpolated.pop_front();
+            } else {
+                interp1 = interpolated.front();
+                interpolated.pop_front();
+                // remove std::milli to get in seconds
+                std::chrono::duration<double, std::milli> duration_ms = interp1.timestamp.get() - interp0.timestamp.get();
+                double dt = duration_ms.count();
+                while(second.size()) {
+                    currSecond = second.front();
+                    if(currSecond.timestamp.get() > interp0.timestamp.get() && currSecond.timestamp.get() <= interp1.timestamp.get()) {
+                        // remove std::milli to get in seconds
+                        std::chrono::duration<double, std::milli> diff = currSecond.timestamp.get() - interp0.timestamp.get();
+                        const double alpha = diff.count() / dt;
+                        I interp = lerpImu(interp0, interp1, alpha);
+                        M msg;
+                        std::chrono::_V2::steady_clock::time_point tstamp;
+                        if(_getBaseDeviceTimestamp)
+                            tstamp = currSecond.getTimestampDevice();
+                        else
+                            tstamp = currSecond.getTimestamp();
+                        CreateUnitMessage(interp, currSecond, msg, tstamp);
+                        imuMsgs.push_back(msg);
+                        second.pop_front();
+                    } else if(currSecond.timestamp.get() > interp1.timestamp.get()) {
+                        interp0 = interp1;
+                        if(interpolated.size()) {
+                            interp1 = interpolated.front();
+                            interpolated.pop_front();
+                            duration_ms = interp1.timestamp.get() - interp0.timestamp.get();
+                            dt = duration_ms.count();
+                        } else {
+                            break;
+                        }
+                    } else {
+                        second.pop_front();
+                    }
+                }
+                interp0 = interp1;
+            }
+        }
+        interpolated.push_back(interp0);
+    }
+
     template <typename I, typename S, typename T, typename F, typename M>
     void interpolate(std::deque<I>& interpolated, std::deque<S>& second, std::deque<T>& third, std::deque<F>& fourth, std::deque<M>& imuMsgs) {
         I interp0, interp1;
diff --git a/depthai_bridge/package.xml b/depthai_bridge/package.xml
index ee235e1a..9002320b 100644
--- a/depthai_bridge/package.xml
+++ b/depthai_bridge/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_bridge</name>
-  <version>2.7.4</version>
+  <version>2.7.5</version>
   <description>The depthai_bridge package</description>
 
   <maintainer email="sachin@luxonis.com">Sachin Guruswamy</maintainer>
diff --git a/depthai_bridge/src/ImuConverter.cpp b/depthai_bridge/src/ImuConverter.cpp
index 84771132..e733d0f3 100644
--- a/depthai_bridge/src/ImuConverter.cpp
+++ b/depthai_bridge/src/ImuConverter.cpp
@@ -97,8 +97,6 @@ void ImuConverter::toRosMsg(std::shared_ptr<dai::IMUData> inData, std::deque<Imu
         for(int i = 0; i < inData->packets.size(); ++i) {
             auto accel = inData->packets[i].acceleroMeter;
             auto gyro = inData->packets[i].gyroscope;
-            auto rot = inData->packets[i].rotationVector;
-            auto magn = inData->packets[i].magneticField;
             ImuMsgs::Imu msg;
             std::chrono::_V2::steady_clock::time_point tstamp;
             if(_getBaseDeviceTimestamp)
@@ -106,7 +104,8 @@ void ImuConverter::toRosMsg(std::shared_ptr<dai::IMUData> inData, std::deque<Imu
             else
                 tstamp = accel.getTimestamp();
 
-            CreateUnitMessage(accel, gyro, rot, magn, msg, tstamp);
+            CreateUnitMessage(accel, gyro, msg, tstamp);
+
             outImuMsgs.push_back(msg);
         }
     }
diff --git a/depthai_descriptions/CMakeLists.txt b/depthai_descriptions/CMakeLists.txt
index 958e11c5..ab4b4278 100644
--- a/depthai_descriptions/CMakeLists.txt
+++ b/depthai_descriptions/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(depthai_descriptions VERSION 2.7.4)
+project(depthai_descriptions VERSION 2.7.5)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
diff --git a/depthai_descriptions/package.xml b/depthai_descriptions/package.xml
index b7264dec..0a7f3123 100644
--- a/depthai_descriptions/package.xml
+++ b/depthai_descriptions/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_descriptions</name>
-  <version>2.7.4</version>
+  <version>2.7.5</version>
   <description>The depthai_descriptions package</description>
 
   <maintainer email="sachin@luxonis.com">Sachin Guruswamy</maintainer>
diff --git a/depthai_examples/CMakeLists.txt b/depthai_examples/CMakeLists.txt
index 2ef1933e..84dc5876 100644
--- a/depthai_examples/CMakeLists.txt
+++ b/depthai_examples/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
-project(depthai_examples VERSION 2.7.4 LANGUAGES CXX C)
+project(depthai_examples VERSION 2.7.5 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
diff --git a/depthai_examples/package.xml b/depthai_examples/package.xml
index d73e9184..37140550 100644
--- a/depthai_examples/package.xml
+++ b/depthai_examples/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_examples</name>
-  <version>2.7.4</version>
+  <version>2.7.5</version>
   <description>The depthai_examples package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
diff --git a/depthai_examples/src/depth_crop_control.cpp b/depthai_examples/src/depth_crop_control.cpp
index 6245912e..b1667516 100644
--- a/depthai_examples/src/depth_crop_control.cpp
+++ b/depthai_examples/src/depth_crop_control.cpp
@@ -102,8 +102,8 @@ int main() {
     }
 
     // Properties
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoRight->setBoardSocket(dai::CameraBoardSocket::CAM_C);
+    monoLeft->setBoardSocket(dai::CameraBoardSocket::CAM_B);
     monoRight->setResolution(monoRes);
     monoLeft->setResolution(monoRes);
 
@@ -139,7 +139,7 @@ int main() {
 
     dai::rosBridge::ImageConverter depthConverter(cameraName + "_right_camera_optical_frame", true);
     // TODO(sachin): Modify the calibration based on crop from service
-    auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RIGHT, monoWidth, monoHeight);
+    auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_C, monoWidth, monoHeight);
 
     dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> depthPublish(
         depthQueue,
diff --git a/depthai_examples/src/rgb_stereo_node.cpp b/depthai_examples/src/rgb_stereo_node.cpp
index d2f22ee9..6576e28a 100644
--- a/depthai_examples/src/rgb_stereo_node.cpp
+++ b/depthai_examples/src/rgb_stereo_node.cpp
@@ -70,9 +70,9 @@ std::tuple<dai::Pipeline, int, int> createPipeline(bool lrcheck,
 
     // MonoCamera
     monoLeft->setResolution(monoResolution);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setBoardSocket(dai::CameraBoardSocket::CAM_B);
     monoRight->setResolution(monoResolution);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setBoardSocket(dai::CameraBoardSocket::CAM_C);
 
     // StereoDepth
     stereo->initialConfig.setConfidenceThreshold(confidence);
@@ -249,9 +249,9 @@ int main(int argc, char** argv) {
     dai::rosBridge::ImageConverter depthConverter(tfPrefix + "_right_camera_optical_frame", true);
     dai::rosBridge::ImageConverter rgbConverter(tfPrefix + "_rgb_camera_optical_frame", true);
 
-    auto stereoCameraInfo = depthConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RIGHT, monoWidth, monoHeight);
-    auto previewCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RGB, previewWidth, previewHeight);
-    auto videoCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RGB, colorWidth, colorHeight);
+    auto stereoCameraInfo = depthConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_C, monoWidth, monoHeight);
+    auto previewCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_A, previewWidth, previewHeight);
+    auto videoCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_A, colorWidth, colorHeight);
 
     if(useDepth) {
         depthPublish = std::make_unique<dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame>>(
diff --git a/depthai_examples/src/stereo_inertial_publisher.cpp b/depthai_examples/src/stereo_inertial_publisher.cpp
index 08a60e55..a4fc8258 100644
--- a/depthai_examples/src/stereo_inertial_publisher.cpp
+++ b/depthai_examples/src/stereo_inertial_publisher.cpp
@@ -96,10 +96,10 @@ std::tuple<dai::Pipeline, int, int> createPipeline(bool enableDepth,
 
     // MonoCamera
     monoLeft->setResolution(monoResolution);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setBoardSocket(dai::CameraBoardSocket::CAM_B);
     monoLeft->setFps(stereo_fps);
     monoRight->setResolution(monoResolution);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setBoardSocket(dai::CameraBoardSocket::CAM_C);
     monoRight->setFps(stereo_fps);
 
     // StereoDepth
@@ -109,7 +109,7 @@ std::tuple<dai::Pipeline, int, int> createPipeline(bool enableDepth,
     stereo->setLeftRightCheck(lrcheck);
     stereo->setExtendedDisparity(extended);
     stereo->setSubpixel(subpixel);
-    if(enableDepth && depth_aligned) stereo->setDepthAlign(dai::CameraBoardSocket::RGB);
+    if(enableDepth && depth_aligned) stereo->setDepthAlign(dai::CameraBoardSocket::CAM_A);
 
     // Imu
     imu->enableIMUSensor(dai::IMUSensor::ACCELEROMETER_RAW, 500);
@@ -122,7 +122,7 @@ std::tuple<dai::Pipeline, int, int> createPipeline(bool enableDepth,
         auto camRgb = pipeline.create<dai::node::ColorCamera>();
         auto xoutRgb = pipeline.create<dai::node::XLinkOut>();
         xoutRgb->setStreamName("rgb");
-        camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+        camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
         dai::node::ColorCamera::Properties::SensorResolution rgbResolution;
 
         if(rgbResolutionStr == "1080p") {
@@ -519,8 +519,8 @@ int main(int argc, char** argv) {
 
     imuPublish.addPublisherCallback();
 
-    // auto leftCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::LEFT, monoWidth, monoHeight);
-    // auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RIGHT, monoWidth, monoHeight);
+    // auto leftCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_B, monoWidth, monoHeight);
+    // auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_C, monoWidth, monoHeight);
     // const std::string leftPubName = rectify ? std::string("left/image_rect") : std::string("left/image_raw");
     // const std::string rightPubName = rectify ? std::string("right/image_rect") : std::string("right/image_raw");
 
@@ -529,9 +529,9 @@ int main(int argc, char** argv) {
         rgbConverter.setUpdateRosBaseTimeOnToRosMsg();
     }
     if(enableDepth) {
-        auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RIGHT, width, height);
+        auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_C, width, height);
         auto depthCameraInfo =
-            depth_aligned ? rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RGB, width, height) : rightCameraInfo;
+            depth_aligned ? rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_A, width, height) : rightCameraInfo;
         auto depthconverter = depth_aligned ? rgbConverter : rightconverter;
 
         dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> depthPublish(
@@ -549,7 +549,7 @@ int main(int argc, char** argv) {
         depthPublish.addPublisherCallback();
 
         if(depth_aligned) {
-            auto rgbCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RGB, width, height);
+            auto rgbCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_A, width, height);
             auto imgQueue = device->getOutputQueue("rgb", 30, false);
             dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> rgbPublish(
                 imgQueue,
@@ -564,7 +564,7 @@ int main(int argc, char** argv) {
             if(enableSpatialDetection) {
                 auto previewQueue = device->getOutputQueue("preview", 30, false);
                 auto detectionQueue = device->getOutputQueue("detections", 30, false);
-                auto previewCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RGB, previewWidth, previewHeight);
+                auto previewCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_A, previewWidth, previewHeight);
 
                 dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> previewPublish(
                     previewQueue,
@@ -588,8 +588,8 @@ int main(int argc, char** argv) {
             }
             rclcpp::spin(node);
         } else {
-            auto leftCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::LEFT, width, height);
-            auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RIGHT, width, height);
+            auto leftCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_B, width, height);
+            auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_C, width, height);
 
             auto leftQueue = device->getOutputQueue("left", 30, false);
             auto rightQueue = device->getOutputQueue("right", 30, false);
@@ -616,10 +616,10 @@ int main(int argc, char** argv) {
     } else {
         std::string tfSuffix = depth_aligned ? "_rgb_camera_optical_frame" : "_right_camera_optical_frame";
         dai::rosBridge::DisparityConverter dispConverter(tfPrefix + tfSuffix, 880, 7.5, 20, 2000);  // TODO(sachin): undo hardcoding of baseline
-        auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RIGHT, width, height);
+        auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_C, width, height);
 
         auto disparityCameraInfo =
-            depth_aligned ? rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RGB, 1280, 720) : rightCameraInfo;
+            depth_aligned ? rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_A, 1280, 720) : rightCameraInfo;
         auto depthconverter = depth_aligned ? rgbConverter : rightconverter;
         dai::rosBridge::BridgePublisher<stereo_msgs::msg::DisparityImage, dai::ImgFrame> dispPublish(
             stereoQueue,
@@ -632,7 +632,7 @@ int main(int argc, char** argv) {
         dispPublish.addPublisherCallback();
 
         if(depth_aligned) {
-            auto rgbCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RGB, width, height);
+            auto rgbCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_A, width, height);
             auto imgQueue = device->getOutputQueue("rgb", 30, false);
             dai::rosBridge::ImageConverter rgbConverter(tfPrefix + "_rgb_camera_optical_frame", false);
             dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> rgbPublish(
@@ -647,7 +647,7 @@ int main(int argc, char** argv) {
             if(enableSpatialDetection) {
                 auto previewQueue = device->getOutputQueue("preview", 30, false);
                 auto detectionQueue = device->getOutputQueue("detections", 30, false);
-                auto previewCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RGB, previewWidth, previewHeight);
+                auto previewCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_A, previewWidth, previewHeight);
 
                 dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> previewPublish(
                     previewQueue,
@@ -671,8 +671,8 @@ int main(int argc, char** argv) {
             }
             rclcpp::spin(node);
         } else {
-            auto leftCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::LEFT, width, height);
-            auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RIGHT, width, height);
+            auto leftCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_B, width, height);
+            auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_C, width, height);
 
             auto leftQueue = device->getOutputQueue("left", 30, false);
             auto rightQueue = device->getOutputQueue("right", 30, false);
diff --git a/depthai_examples/src/stereo_publisher.cpp b/depthai_examples/src/stereo_publisher.cpp
index 8e0df7b4..73be3fad 100644
--- a/depthai_examples/src/stereo_publisher.cpp
+++ b/depthai_examples/src/stereo_publisher.cpp
@@ -65,9 +65,9 @@ std::tuple<dai::Pipeline, int, int> createPipeline(
 
     // MonoCamera
     monoLeft->setResolution(monoResolution);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setBoardSocket(dai::CameraBoardSocket::CAM_B);
     monoRight->setResolution(monoResolution);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setBoardSocket(dai::CameraBoardSocket::CAM_C);
 
     // StereoDepth
     stereo->initialConfig.setConfidenceThreshold(confidence);
@@ -147,7 +147,7 @@ int main(int argc, char** argv) {
     }
 
     dai::rosBridge::ImageConverter converter(tfPrefix + "_left_camera_optical_frame", true);
-    auto leftCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::LEFT, monoWidth, monoHeight);
+    auto leftCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_B, monoWidth, monoHeight);
     dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> leftPublish(
         leftQueue,
         node,
@@ -160,7 +160,7 @@ int main(int argc, char** argv) {
     leftPublish.addPublisherCallback();
 
     dai::rosBridge::ImageConverter rightconverter(tfPrefix + "_right_camera_optical_frame", true);
-    auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RIGHT, monoWidth, monoHeight);
+    auto rightCameraInfo = converter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_C, monoWidth, monoHeight);
 
     dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> rightPublish(
         rightQueue,
diff --git a/depthai_examples/src/yolov4_spatial_publisher.cpp b/depthai_examples/src/yolov4_spatial_publisher.cpp
index f6838a31..1d7df58e 100644
--- a/depthai_examples/src/yolov4_spatial_publisher.cpp
+++ b/depthai_examples/src/yolov4_spatial_publisher.cpp
@@ -75,16 +75,16 @@ dai::Pipeline createPipeline(bool spatial_camera, bool syncNN, bool subpixel, st
         }
 
         monoLeft->setResolution(monoResolution);
-        monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+        monoLeft->setBoardSocket(dai::CameraBoardSocket::CAM_B);
         monoRight->setResolution(monoResolution);
-        monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+        monoRight->setBoardSocket(dai::CameraBoardSocket::CAM_C);
 
         /// setting node configs
         stereo->initialConfig.setConfidenceThreshold(confidence);
         stereo->setRectifyEdgeFillColor(0);  // black, to better see the cutout
         stereo->initialConfig.setLeftRightCheckThreshold(LRchecktresh);
         stereo->setSubpixel(subpixel);
-        stereo->setDepthAlign(dai::CameraBoardSocket::RGB);
+        stereo->setDepthAlign(dai::CameraBoardSocket::CAM_A);
 
         spatialDetectionNetwork->setBlobPath(nnPath);
         spatialDetectionNetwork->setConfidenceThreshold(0.5f);
@@ -225,7 +225,7 @@ int main(int argc, char** argv) {
     }
 
     dai::rosBridge::ImageConverter rgbConverter(tfPrefix + "_rgb_camera_optical_frame", false);
-    auto rgbCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RGB, -1, -1);
+    auto rgbCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_A, -1, -1);
     dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> rgbPublish(colorQueue,
                                                                                        node,
                                                                                        std::string("color/image"),
@@ -247,7 +247,7 @@ int main(int argc, char** argv) {
         30);
 
     dai::rosBridge::ImageConverter depthConverter(tfPrefix + "_right_camera_optical_frame", true);
-    auto rightCameraInfo = depthConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RIGHT, width, height);
+    auto rightCameraInfo = depthConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::CAM_C, width, height);
     dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> depthPublish(
         depthQueue,
         node,
diff --git a/depthai_filters/CMakeLists.txt b/depthai_filters/CMakeLists.txt
index 1b11fd77..9a7c9327 100644
--- a/depthai_filters/CMakeLists.txt
+++ b/depthai_filters/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(depthai_filters VERSION 2.7.4 LANGUAGES CXX C)
+project(depthai_filters VERSION 2.7.5 LANGUAGES CXX C)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
diff --git a/depthai_filters/package.xml b/depthai_filters/package.xml
index e5afa787..a4684998 100644
--- a/depthai_filters/package.xml
+++ b/depthai_filters/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>depthai_filters</name>
-  <version>2.7.4</version>
+  <version>2.7.5</version>
   <description>Depthai filters package</description>
   <maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>
   <license>MIT</license>
diff --git a/depthai_filters/src/detection2d_overlay.cpp b/depthai_filters/src/detection2d_overlay.cpp
index 8ad65b36..c6f667ab 100644
--- a/depthai_filters/src/detection2d_overlay.cpp
+++ b/depthai_filters/src/detection2d_overlay.cpp
@@ -1,6 +1,6 @@
 #include "depthai_filters/detection2d_overlay.hpp"
 
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "depthai_filters/utils.hpp"
 
 namespace depthai_filters {
diff --git a/depthai_filters/src/segmentation_overlay.cpp b/depthai_filters/src/segmentation_overlay.cpp
index 7f939b2f..a0668cfe 100644
--- a/depthai_filters/src/segmentation_overlay.cpp
+++ b/depthai_filters/src/segmentation_overlay.cpp
@@ -1,6 +1,6 @@
 #include "depthai_filters/segmentation_overlay.hpp"
 
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "depthai_filters/utils.hpp"
 
 namespace depthai_filters {
diff --git a/depthai_filters/src/spatial_bb.cpp b/depthai_filters/src/spatial_bb.cpp
index 5a3a7f0f..5ebe2363 100644
--- a/depthai_filters/src/spatial_bb.cpp
+++ b/depthai_filters/src/spatial_bb.cpp
@@ -1,6 +1,6 @@
 #include "depthai_filters/spatial_bb.hpp"
 
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "depthai_filters/utils.hpp"
 #include "geometry_msgs/msg/point32.hpp"
 #include "opencv2/opencv.hpp"
diff --git a/depthai_filters/src/utils.cpp b/depthai_filters/src/utils.cpp
index 1e6b9cea..5e32e8cf 100644
--- a/depthai_filters/src/utils.cpp
+++ b/depthai_filters/src/utils.cpp
@@ -1,6 +1,6 @@
 #include "depthai_filters/utils.hpp"
 
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 namespace depthai_filters {
diff --git a/depthai_filters/src/wls_filter.cpp b/depthai_filters/src/wls_filter.cpp
index b00a5ccb..a01193bf 100644
--- a/depthai_filters/src/wls_filter.cpp
+++ b/depthai_filters/src/wls_filter.cpp
@@ -2,7 +2,7 @@
 
 #include <memory>
 
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "depthai_filters/utils.hpp"
 
 namespace depthai_filters {
diff --git a/depthai_ros_driver/CMakeLists.txt b/depthai_ros_driver/CMakeLists.txt
index 920dc33f..71502987 100644
--- a/depthai_ros_driver/CMakeLists.txt
+++ b/depthai_ros_driver/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(depthai_ros_driver VERSION 2.7.4)
+project(depthai_ros_driver VERSION 2.7.5)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_BUILD_SHARED_LIBS ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
diff --git a/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/segmentation.hpp b/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/segmentation.hpp
index ff5ef19b..c59acca1 100644
--- a/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/segmentation.hpp
+++ b/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/segmentation.hpp
@@ -4,7 +4,7 @@
 #include <string>
 #include <vector>
 
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "depthai_ros_driver/dai_nodes/base_node.hpp"
 #include "image_transport/camera_publisher.hpp"
 #include "image_transport/image_transport.hpp"
diff --git a/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/stereo.hpp b/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/stereo.hpp
index 1973efd2..c3d7f062 100644
--- a/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/stereo.hpp
+++ b/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/stereo.hpp
@@ -53,8 +53,8 @@ class Stereo : public BaseNode {
                     rclcpp::Node* node,
                     std::shared_ptr<dai::Pipeline> pipeline,
                     std::shared_ptr<dai::Device> device,
-                    StereoSensorInfo leftInfo = StereoSensorInfo{"left", dai::CameraBoardSocket::LEFT},
-                    StereoSensorInfo rightInfo = StereoSensorInfo{"right", dai::CameraBoardSocket::RIGHT});
+                    StereoSensorInfo leftInfo = StereoSensorInfo{"left", dai::CameraBoardSocket::CAM_B},
+                    StereoSensorInfo rightInfo = StereoSensorInfo{"right", dai::CameraBoardSocket::CAM_C});
     ~Stereo();
     void updateParams(const std::vector<rclcpp::Parameter>& params) override;
     void setupQueues(std::shared_ptr<dai::Device> device) override;
diff --git a/depthai_ros_driver/launch/example_multicam.launch.py b/depthai_ros_driver/launch/example_multicam.launch.py
index 77806be2..f9258642 100644
--- a/depthai_ros_driver/launch/example_multicam.launch.py
+++ b/depthai_ros_driver/launch/example_multicam.launch.py
@@ -16,7 +16,6 @@ def launch_setup(context, *args, **kwargs):
 
     depthai_prefix = get_package_share_directory("depthai_ros_driver")
     params_file = os.path.join(depthai_prefix, "config", "multicam_example.yaml")
-    # put mx_ids here
     cams = ["oak_d_w", "oak_d_lite"]
     nodes = []
     i=0.0
diff --git a/depthai_ros_driver/package.xml b/depthai_ros_driver/package.xml
index 99b05e63..a137d208 100644
--- a/depthai_ros_driver/package.xml
+++ b/depthai_ros_driver/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>depthai_ros_driver</name>
-  <version>2.7.4</version>
+  <version>2.7.5</version>
   <description>Depthai ROS Monolithic node.</description>
   <maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>
   <maintainer email="sachin@luxonis.com">Sachin Guruswamy</maintainer>
@@ -29,6 +29,7 @@
   <depend>depthai_ros_msgs</depend>
   <depend>depthai_examples</depend>
   <depend>pluginlib</depend>
+  
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/depthai_ros_driver/src/dai_nodes/nn/segmentation.cpp b/depthai_ros_driver/src/dai_nodes/nn/segmentation.cpp
index b1211e0b..91885caf 100644
--- a/depthai_ros_driver/src/dai_nodes/nn/segmentation.cpp
+++ b/depthai_ros_driver/src/dai_nodes/nn/segmentation.cpp
@@ -1,7 +1,7 @@
 #include "depthai_ros_driver/dai_nodes/nn/segmentation.hpp"
 
 #include "camera_info_manager/camera_info_manager.hpp"
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "depthai/device/DataQueue.hpp"
 #include "depthai/device/Device.hpp"
 #include "depthai/pipeline/Pipeline.hpp"
@@ -66,7 +66,7 @@ void Segmentation::setupQueues(std::shared_ptr<dai::Device> device) {
         infoManager->setCameraInfo(sensor_helpers::getCalibInfo(getROSNode()->get_logger(),
                                                                 *imageConverter,
                                                                 device,
-                                                                dai::CameraBoardSocket::RGB,
+                                                                dai::CameraBoardSocket::CAM_A,
                                                                 imageManip->initialConfig.getResizeWidth(),
                                                                 imageManip->initialConfig.getResizeWidth()));
 
diff --git a/depthai_ros_driver/src/dai_nodes/sensors/rgb.cpp b/depthai_ros_driver/src/dai_nodes/sensors/rgb.cpp
index 52425001..44fdcbd2 100644
--- a/depthai_ros_driver/src/dai_nodes/sensors/rgb.cpp
+++ b/depthai_ros_driver/src/dai_nodes/sensors/rgb.cpp
@@ -20,7 +20,7 @@ namespace dai_nodes {
 RGB::RGB(const std::string& daiNodeName,
          rclcpp::Node* node,
          std::shared_ptr<dai::Pipeline> pipeline,
-         dai::CameraBoardSocket socket = dai::CameraBoardSocket::RGB,
+         dai::CameraBoardSocket socket = dai::CameraBoardSocket::CAM_A,
          sensor_helpers::ImageSensor sensor = {"IMX378", {"12mp", "4k"}, true},
          bool publish = true)
     : BaseNode(daiNodeName, node, pipeline) {
diff --git a/depthai_ros_driver/src/dai_nodes/stereo.cpp b/depthai_ros_driver/src/dai_nodes/stereo.cpp
index 6e087ccf..49a681d7 100644
--- a/depthai_ros_driver/src/dai_nodes/stereo.cpp
+++ b/depthai_ros_driver/src/dai_nodes/stereo.cpp
@@ -1,7 +1,7 @@
 #include "depthai_ros_driver/dai_nodes/stereo.hpp"
 
 #include "camera_info_manager/camera_info_manager.hpp"
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "depthai/device/DataQueue.hpp"
 #include "depthai/device/DeviceBase.hpp"
 #include "depthai/pipeline/Pipeline.hpp"
@@ -161,6 +161,9 @@ void Stereo::setupStereoQueue(std::shared_ptr<dai::Device> device) {
                                              ph->getParam<int>("i_height"));
     auto calibHandler = device->readCalibration();
     info.p[3] = calibHandler.getBaselineDistance() * 10.0;  // baseline in mm
+    for(auto& d : info.d) {
+        d = 0.0;
+    }
     stereoIM->setCameraInfo(info);
 
     if(ph->getParam<bool>("i_low_bandwidth")) {
diff --git a/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp b/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp
index 7400a46d..e2018de5 100644
--- a/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp
+++ b/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp
@@ -57,7 +57,7 @@ void StereoParamHandler::declareParams(std::shared_ptr<dai::node::StereoDepth> s
     stereo->setLeftRightCheck(declareAndLogParam<bool>("i_lr_check", true));
     int width = 1280;
     int height = 720;
-    dai::CameraBoardSocket socket = dai::CameraBoardSocket::RIGHT;
+    dai::CameraBoardSocket socket = dai::CameraBoardSocket::CAM_C;
     if(declareAndLogParam<bool>("i_align_depth", true)) {
         try {
             width = getROSNode()->get_parameter("rgb.i_width").as_int();
diff --git a/depthai_ros_driver/src/pipeline/base_types.cpp b/depthai_ros_driver/src/pipeline/base_types.cpp
index 6432fb72..41ba908e 100644
--- a/depthai_ros_driver/src/pipeline/base_types.cpp
+++ b/depthai_ros_driver/src/pipeline/base_types.cpp
@@ -25,7 +25,7 @@ std::vector<std::unique_ptr<dai_nodes::BaseNode>> RGB::createPipeline(rclcpp::No
     auto nType = utils::getValFromMap(nTypeUpCase, nnTypeMap);
 
     std::vector<std::unique_ptr<dai_nodes::BaseNode>> daiNodes;
-    auto rgb = std::make_unique<dai_nodes::SensorWrapper>("rgb", node, pipeline, device, dai::CameraBoardSocket::RGB);
+    auto rgb = std::make_unique<dai_nodes::SensorWrapper>("rgb", node, pipeline, device, dai::CameraBoardSocket::CAM_A);
     switch(nType) {
         case NNType::None:
             break;
@@ -51,7 +51,7 @@ std::vector<std::unique_ptr<dai_nodes::BaseNode>> RGBD::createPipeline(rclcpp::N
     auto nType = utils::getValFromMap(nTypeUpCase, nnTypeMap);
 
     std::vector<std::unique_ptr<dai_nodes::BaseNode>> daiNodes;
-    auto rgb = std::make_unique<dai_nodes::SensorWrapper>("rgb", node, pipeline, device, dai::CameraBoardSocket::RGB);
+    auto rgb = std::make_unique<dai_nodes::SensorWrapper>("rgb", node, pipeline, device, dai::CameraBoardSocket::CAM_A);
     auto stereo = std::make_unique<dai_nodes::Stereo>("stereo", node, pipeline, device);
     switch(nType) {
         case NNType::None:
@@ -81,9 +81,9 @@ std::vector<std::unique_ptr<dai_nodes::BaseNode>> RGBStereo::createPipeline(rclc
     auto nType = utils::getValFromMap(nTypeUpCase, nnTypeMap);
 
     std::vector<std::unique_ptr<dai_nodes::BaseNode>> daiNodes;
-    auto rgb = std::make_unique<dai_nodes::SensorWrapper>("rgb", node, pipeline, device, dai::CameraBoardSocket::RGB);
-    auto left = std::make_unique<dai_nodes::SensorWrapper>("left", node, pipeline, device, dai::CameraBoardSocket::LEFT);
-    auto right = std::make_unique<dai_nodes::SensorWrapper>("right", node, pipeline, device, dai::CameraBoardSocket::RIGHT);
+    auto rgb = std::make_unique<dai_nodes::SensorWrapper>("rgb", node, pipeline, device, dai::CameraBoardSocket::CAM_A);
+    auto left = std::make_unique<dai_nodes::SensorWrapper>("left", node, pipeline, device, dai::CameraBoardSocket::CAM_B);
+    auto right = std::make_unique<dai_nodes::SensorWrapper>("right", node, pipeline, device, dai::CameraBoardSocket::CAM_C);
     switch(nType) {
         case NNType::None:
             break;
@@ -108,8 +108,8 @@ std::vector<std::unique_ptr<dai_nodes::BaseNode>> Stereo::createPipeline(rclcpp:
                                                                          std::shared_ptr<dai::Pipeline> pipeline,
                                                                          const std::string& /*nnType*/) {
     std::vector<std::unique_ptr<dai_nodes::BaseNode>> daiNodes;
-    auto left = std::make_unique<dai_nodes::SensorWrapper>("left", node, pipeline, device, dai::CameraBoardSocket::LEFT);
-    auto right = std::make_unique<dai_nodes::SensorWrapper>("right", node, pipeline, device, dai::CameraBoardSocket::RIGHT);
+    auto left = std::make_unique<dai_nodes::SensorWrapper>("left", node, pipeline, device, dai::CameraBoardSocket::CAM_B);
+    auto right = std::make_unique<dai_nodes::SensorWrapper>("right", node, pipeline, device, dai::CameraBoardSocket::CAM_C);
     daiNodes.push_back(std::move(left));
     daiNodes.push_back(std::move(right));
     return daiNodes;
diff --git a/depthai_ros_msgs/CMakeLists.txt b/depthai_ros_msgs/CMakeLists.txt
index fd4c0851..9210b25b 100644
--- a/depthai_ros_msgs/CMakeLists.txt
+++ b/depthai_ros_msgs/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 
-project(depthai_ros_msgs VERSION 2.7.4)
+project(depthai_ros_msgs VERSION 2.7.5)
 
 if(POLICY CMP0057)
     cmake_policy(SET CMP0057 NEW)
diff --git a/depthai_ros_msgs/package.xml b/depthai_ros_msgs/package.xml
index 5f7a3663..9b444079 100644
--- a/depthai_ros_msgs/package.xml
+++ b/depthai_ros_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_ros_msgs</name>
-  <version>2.7.4</version>
+  <version>2.7.5</version>
   <description>Package to keep interface independent of the driver</description>
 
   <maintainer email="sachin@luxonis.com">Sachin Guruswamy</maintainer>