diff --git a/README.md b/README.md
index 91403e2..06fd2ac 100644
--- a/README.md
+++ b/README.md
@@ -9,6 +9,7 @@ Snap for OAK-x cameras customized for Husarion robots
 | `husarion-depthai.start` | Start the `husarion-depthai.daemon` service |
 | `husarion-depthai.stop` | Stop the `husarion-depthai.daemon` service |
 | `husarion-depthai` | Start the application in the foreground (run in the current terminal). Remember to stop the daemon first |
+| `husarion-depthai.image-view` | Preview the image from the camera |
 
 ## Setup FFMPEG
 
diff --git a/demo/rviz.launch.py b/demo/rviz.launch.py
index c1f202b..e00ea00 100644
--- a/demo/rviz.launch.py
+++ b/demo/rviz.launch.py
@@ -27,8 +27,8 @@ def launch_setup(context, *args, **kwargs):
         name="republish",
         arguments=[
             "ffmpeg",
-            # "in/ffmpeg:=camera/color/image_raw/ffmpeg",
-            "in/ffmpeg:=abc/xyz/rgb/image_raw/ffmpeg",
+            "in/ffmpeg:=/image_raw/ffmpeg",
+            # "in/ffmpeg:=abc/xyz/rgb/image_raw/ffmpeg",
             "raw",
             "out:=camera/color/image_uncompressed",
         ],
diff --git a/snap/hooks/configure b/snap/hooks/configure
index b19934b..a9dc5dc 100755
--- a/snap/hooks/configure
+++ b/snap/hooks/configure
@@ -1,4 +1,4 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 # The configure hook is called every time one the following actions happen:
 # - initial snap installation
@@ -6,29 +6,54 @@
 # - whenever the user runs snap set|unset to change a configuration option
 
 # Define a function to log and echo messages
-log_and_echo() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "configure hook: $message"
-    # Echo the message to standard error
-    echo >&2 "$message"
-}
-
-log() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "configure hook: $message"
-}
+source $SNAP/usr/bin/utils.sh
 
-$SNAP/usr/bin/configure_hook_ros.sh
+# # Define the top-level key and the list of valid keys
+VALID_DRIVER_KEYS=(
+  "name"         
+  "parent-frame"
+  "camera-model"
+  "cam-pos-x"
+  "cam-pos-y"
+  "cam-pos-z"
+  "cam-roll"
+  "cam-pitch"
+  "cam-yaw"
+  "params-file"
+  "ffmpeg-image-transport"
+)
 
-DEPTHAI_PARAMS_FILE="$(snapctl get driver.params-file)"
+VALID_FFMPEG_IMAGE_TRANSPORT_KEYS=(
+  "encoding"
+  "preset"
+  "tune"
+)
 
-# Check if the file exists
-if [ ! -f "$DEPTHAI_PARAMS_FILE" ]; then
-  log_and_echo "$DEPTHAI_PARAMS_FILE does not exist."
-  exit 1
-fi
+# common
+
+validate_keys "driver" VALID_DRIVER_KEYS[@]
+validate_keys "driver.ffmpeg-image-transport" VALID_FFMPEG_IMAGE_TRANSPORT_KEYS[@]
+
+# validate driver.name
+validate_regex "driver.name" '^[a-z_-]{1,10}$' "Possible values are text with a maximum length of 10 characters, containing only lowercase letters (a-z), "-" or '_'."
+
+# validate driver.parent-frame
+validate_regex "driver.parent-frame" '^[a-z_-]{1,40}$' "Possible values are text with a maximum length of 40 characters, containing only lowercase letters (a-z), "-" or '_'."
+
+# validate driver.camera-model
+VALID_CAMERA_MODEL_OPTIONS=("OAK-D" "OAK-D-LITE")
+validate_option "driver.camera-model" VALID_CAMERA_MODEL_OPTIONS[@]
+
+# validate driver.cam-x
+validate_float "driver.cam-pos-x"
+validate_float "driver.cam-pos-y"
+validate_float "driver.cam-pos-z"
+validate_float "driver.cam-roll"
+validate_float "driver.cam-pitch"
+validate_float "driver.cam-yaw"
+
+# validate driver.params-file
+validate_path "driver.params-file"
 
 export LD_LIBRARY_PATH=$SNAP/usr/lib/$(uname -m)-linux-gnu/pulseaudio:$SNAP/usr/lib/$(uname -m)-linux-gnu/blas:$SNAP/usr/lib/$(uname -m)-linux-gnu/lapack:$LD_LIBRARY_PATH
 
@@ -39,8 +64,8 @@ if [ -n "$FFMPEG_ENCODING" ]; then
   # Run ffmpeg -codecs and check if the codec is available
   if ! ffmpeg -encoders 2>/dev/null | awk '{print $2}' | grep -q "$FFMPEG_ENCODING"; then
     log_and_echo "Error: Codec $FFMPEG_ENCODING is not available:"
-    # log_and_echo "Available codecs:"
-    # ffmpeg -encoders 2>/dev/null | awk '/^ V/ {print $0}'
+    log_and_echo "Find available codecs here: $SNAP_COMMON/ffmpeg_codecs.txt"
+    ffmpeg -encoders 2>/dev/null | awk '/^ V/ {print $0}' > $SNAP_COMMON/ffmpeg_codecs.txt
     exit 1
   fi
 
@@ -60,6 +85,8 @@ else
   yq -i './**.ros__parameters.ffmpeg_image_transport = {}' $SNAP_COMMON/ffmpeg_params.yaml
 fi
 
+$SNAP/usr/bin/configure_hook_ros.sh
+
 # restart services with new ROS 2 config
 for service in daemon; do
   if snapctl services ${SNAP_NAME}.${service} | grep -qw active; then
diff --git a/snap/hooks/connect-plug-ros-humble-ros-base b/snap/hooks/connect-plug-ros-humble-ros-base
index fbc9bc6..39d5c18 100755
--- a/snap/hooks/connect-plug-ros-humble-ros-base
+++ b/snap/hooks/connect-plug-ros-humble-ros-base
@@ -1,8 +1,8 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 # now we can start the service
-# if snapctl services ${SNAP_NAME}.daemon | grep -q inactive; then
-#   snapctl start --enable ${SNAP_NAME}.daemon 2>&1 || true
+# if snapctl services ${SNAP_NAME}.${SNAP_NAME} | grep -q inactive; then
+#   snapctl start --enable ${SNAP_NAME}.${SNAP_NAME} 2>&1 || true
 # fi
 
 logger -t ${SNAP_NAME} "Plug 'ros-humble-ros-base' connected"
\ No newline at end of file
diff --git a/snap/hooks/disconnect-plug-ros-humble-ros-base b/snap/hooks/disconnect-plug-ros-humble-ros-base
index 35cc834..bc2c60d 100755
--- a/snap/hooks/disconnect-plug-ros-humble-ros-base
+++ b/snap/hooks/disconnect-plug-ros-humble-ros-base
@@ -1,4 +1,4 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 logger -t ${SNAP_NAME} "Plug 'ros-humble-ros-base' disconnected"
 snapctl stop --disable ${SNAP_NAME}.daemon 2>&1 || true
diff --git a/snap/hooks/install b/snap/hooks/install
index 9967502..505bfb9 100755
--- a/snap/hooks/install
+++ b/snap/hooks/install
@@ -22,14 +22,13 @@ snapctl set driver.params-file=$SNAP_COMMON/depthai_params.yaml
 snapctl set driver.ffmpeg-image-transport.encoding=libx264
 snapctl set driver.ffmpeg-image-transport.preset=ultrafast
 snapctl set driver.ffmpeg-image-transport.tune=zerolatency
-snapctl set driver.namespace!
 
 if ! snapctl is-connected raw-usb; then
   log "Plug 'raw-usb' isn't connected, please run:"
   log "sudo snap connect ${SNAP_NAME}:raw-usb"
 fi
 
-# copy joy params
+# copy params
 cp -r $SNAP/usr/share/husarion-depthai/config/*.yaml ${SNAP_COMMON}/
 
 # # # copy meshes to shared folder
diff --git a/snap/local/launcher.sh b/snap/local/launcher.sh
index 613b28d..9509c92 100755
--- a/snap/local/launcher.sh
+++ b/snap/local/launcher.sh
@@ -28,8 +28,6 @@ OPTIONS="\
     cam-pitch \
     cam-yaw \
     params-file \
-    namespace \
-    device-namespace \
 "
 
 LAUNCH_OPTIONS=""
diff --git a/snap/local/ros_common/check_daemon_running.sh b/snap/local/local-ros/check_daemon_running.sh
similarity index 53%
rename from snap/local/ros_common/check_daemon_running.sh
rename to snap/local/local-ros/check_daemon_running.sh
index 3f7b8d4..cbe1590 100755
--- a/snap/local/ros_common/check_daemon_running.sh
+++ b/snap/local/local-ros/check_daemon_running.sh
@@ -1,13 +1,7 @@
-#!/usr/bin/bash
+#!/bin/bash -e
 
 # Define a function to log and echo messages
-log_and_echo() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "${SNAP_NAME}.check_daemon_running.sh: $message"
-    # Echo the message to standard error
-    echo >&2 "$message"
-}
+source $SNAP/usr/bin/utils.sh
 
 if snapctl services ${SNAP_NAME}.daemon | grep -qw active; then
     log_and_echo "to run ${SNAP_NAME} snap interactively, you need to stop the daemon first, run:"
diff --git a/snap/local/local-ros/configure_hook_ros.sh b/snap/local/local-ros/configure_hook_ros.sh
new file mode 100755
index 0000000..7483d15
--- /dev/null
+++ b/snap/local/local-ros/configure_hook_ros.sh
@@ -0,0 +1,176 @@
+#!/bin/bash -e
+
+# The configure hook is called every time one the following actions happen:
+# - initial snap installation
+# - snap refresh
+# - whenever the user runs snap set|unset to change a configuration option
+
+# Define a function to log and echo messages
+source $SNAP/usr/bin/utils.sh
+
+# Function to check the type of the provided XML file
+check_xml_profile_type() {
+    local xml_file="$1"
+
+    if [[ ! -f "$xml_file" ]]; then
+        log_and_echo "File '$xml_file' does not exist."
+        return 1
+    fi
+
+    local root_element
+    local namespace
+
+    # Extract the root element
+    root_element=$(yq '. | keys | .[1]' "$xml_file")
+
+    # Extract the namespace based on the root element
+    if [[ "$root_element" == "CycloneDDS" ]]; then
+        namespace=$(yq .CycloneDDS."+@xmlns" "$xml_file")
+    elif [[ "$root_element" == "profiles" ]]; then
+        namespace=$(yq .profiles."+@xmlns" "$xml_file")
+    else
+        namespace="unknown"
+    fi
+
+    # Remove quotes from the extracted values
+    root_element=${root_element//\"/}
+    namespace=${namespace//\"/}
+
+    if [[ "$root_element" == "profiles" ]] && [[ "$namespace" == "http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" ]]; then
+        echo "rmw_fastrtps_cpp"
+    elif [[ "$root_element" == "CycloneDDS" ]] && [[ "$namespace" == "https://cdds.io/config" ]]; then
+        echo "rmw_cyclonedds_cpp"
+    else
+        exit 1
+    fi
+}
+
+VALID_ROS_KEYS=("localhost-only" "domain-id" "transport" "namespace")
+
+# Call the validation function
+validate_keys "ros" VALID_ROS_KEYS[@]
+
+ROS_LOCALHOST_ONLY="$(snapctl get ros.localhost-only)"
+ROS_DOMAIN_ID="$(snapctl get ros.domain-id)"
+
+# Make sure ROS_LOCALHOST_ONLY is valid
+VALID_ROS_LOCALHOST_ONLY_OPTIONS=(1 0)
+validate_option "ros.localhost-only" VALID_ROS_LOCALHOST_ONLY_OPTIONS[@]
+
+# Make sure ROS_DOMAIN_ID is valid
+# Make sure WEBUI_PORT is valid
+SUPPORTED_RANGE=(0 232)
+# Validate a specific port, for example, webui.port
+validate_number "ros.domain-id" SUPPORTED_RANGE[@]
+
+# Get the ros.transport setting using snapctl
+OPT="ros.transport"
+TRANSPORT_SETTING="$(snapctl get ${OPT})"
+
+# Check if TRANSPORT_SETTING is "builtin"
+if [ "$TRANSPORT_SETTING" == "builtin" ]; then
+  # Change the value to "rmw_fastrtps_cpp"
+  TRANSPORT_SETTING="rmw_fastrtps_cpp"
+fi
+
+# Only exit with status 1 if conditions are not met
+if [ "$TRANSPORT_SETTING" != "rmw_fastrtps_cpp" ] && [ "$TRANSPORT_SETTING" != "rmw_cyclonedds_cpp" ] && [ ! -f "${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" ]; then
+  log_and_echo "'${SNAP_COMMON}/${TRANSPORT_SETTING}.xml' does not exist."
+  exit 1
+fi
+
+if [ "$TRANSPORT_SETTING" = "rmw_fastrtps_cpp" ] || [ "$TRANSPORT_SETTING" = "shm" ]; then
+  if ! snapctl is-connected shm-plug; then
+    log_and_echo "to use 'rmw_fastrtps_cpp' and 'shm' tranport shm-plug need to be connected, please run:"
+    log_and_echo "sudo snap connect ${SNAP_NAME}:shm-plug ${SNAP_NAME}:shm-slot"
+    exit 1
+  fi
+fi
+
+# Make sure ros-humble-ros-base is connected
+ROS_PLUG="ros-humble-ros-base"
+
+if ! snapctl is-connected ${ROS_PLUG}; then
+    log_and_echo "Plug '${ROS_PLUG}' isn't connected. Please run:"
+    log_and_echo "snap connect ${SNAP_NAME}:${ROS_PLUG} ${ROS_PLUG}:${ROS_PLUG}"
+    exit 1
+fi
+
+# Create the ${SNAP_COMMON}/ros.env file and export variables (for bash session running ROS2)
+ROS_ENV_FILE="${SNAP_COMMON}/ros.env"
+
+# Create the ${SNAP_COMMON}/ros.env file and export variables (for bash session running ROS2)
+ROS_SNAP_ARGS="${SNAP_COMMON}/ros_snap_args"
+
+echo "export ROS_DOMAIN_ID=${ROS_DOMAIN_ID}" > "${ROS_ENV_FILE}"
+echo "export ROS_LOCALHOST_ONLY=${ROS_LOCALHOST_ONLY}" >> "${ROS_ENV_FILE}"
+
+NAMESPACE=$(snapctl get ros.namespace)
+
+# Check if the namespace is set and not empty
+if [ -n "$NAMESPACE" ]; then
+  echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} ros.namespace=${NAMESPACE}" > "${ROS_SNAP_ARGS}"
+  echo "export ROS_NAMESPACE=${NAMESPACE}" >> "${ROS_ENV_FILE}"
+else
+  echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} ros.namespace!" > "${ROS_SNAP_ARGS}"
+  echo "unset ROS_NAMESPACE" >> "${ROS_ENV_FILE}"
+fi
+
+# Check the ros.transport setting and export the appropriate environment variable
+if [ "$TRANSPORT_SETTING" != "rmw_fastrtps_cpp" ] && [ "$TRANSPORT_SETTING" != "rmw_cyclonedds_cpp" ]; then
+    profile_type=$(check_xml_profile_type "${SNAP_COMMON}/${TRANSPORT_SETTING}.xml")
+    if [[ "$profile_type" == "rmw_fastrtps_cpp" ]]; then
+        echo "unset CYCLONEDDS_URI" >> "${ROS_ENV_FILE}"
+        echo "export RMW_IMPLEMENTATION=${profile_type}" >> "${ROS_ENV_FILE}"
+        echo "export FASTRTPS_DEFAULT_PROFILES_FILE=${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" >> "${ROS_ENV_FILE}"
+    elif [[ "$profile_type" == "rmw_cyclonedds_cpp" ]]; then
+        echo "unset FASTRTPS_DEFAULT_PROFILES_FILE" >> "${ROS_ENV_FILE}"
+        echo "export RMW_IMPLEMENTATION=${profile_type}" >> "${ROS_ENV_FILE}"
+        echo "export CYCLONEDDS_URI=file://${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" >> "${ROS_ENV_FILE}"
+    else
+        log_and_echo "'${TRANSPORT_SETTING}' is not a supported value for '${OPT}'. Possible values are: rmw_fastrtps_cpp, rmw_cyclonedds_cpp, or a valid profile XML file."
+        exit 1
+    fi
+elif [ "$TRANSPORT_SETTING" == "rmw_fastrtps_cpp" ] || [ "$TRANSPORT_SETTING" == "rmw_cyclonedds_cpp" ]; then
+  echo "unset CYCLONEDDS_URI" >> "${ROS_ENV_FILE}"
+  echo "unset FASTRTPS_DEFAULT_PROFILES_FILE" >> "${ROS_ENV_FILE}"
+  echo "export RMW_IMPLEMENTATION=${TRANSPORT_SETTING}" >> "${ROS_ENV_FILE}"
+fi
+
+# Define the path for the manage_ros_env.sh script
+MANAGE_SCRIPT="${SNAP_COMMON}/manage_ros_env.sh"
+
+# Create the manage_ros_env.sh script in ${SNAP_COMMON}
+cat << EOF > "${MANAGE_SCRIPT}"
+#!/bin/bash
+
+ROS_ENV_FILE="${SNAP_COMMON}/ros.env"
+SOURCE_LINE="source \${ROS_ENV_FILE}"
+
+add_source_to_bashrc() {
+  if ! grep -Fxq "\$SOURCE_LINE" ~/.bashrc; then
+    echo "\$SOURCE_LINE" >> ~/.bashrc
+    echo "Added '\$SOURCE_LINE' to ~/.bashrc"
+  else
+    echo "'\$SOURCE_LINE' is already in ~/.bashrc"
+  fi
+}
+
+remove_source_from_bashrc() {
+  sed -i "\|\$SOURCE_LINE|d" ~/.bashrc
+  echo "Removed '\$SOURCE_LINE' from ~/.bashrc"
+}
+
+case "\$1" in
+  remove)
+    remove_source_from_bashrc
+    ;;
+  add|*)
+    add_source_to_bashrc
+    ;;
+esac
+EOF
+
+# Make the manage_ros_env.sh script executable
+chmod +x "${MANAGE_SCRIPT}"
+
diff --git a/snap/local/ros_common/install_hook_ros.sh b/snap/local/local-ros/install_hook_ros.sh
similarity index 70%
rename from snap/local/ros_common/install_hook_ros.sh
rename to snap/local/local-ros/install_hook_ros.sh
index 9d48a98..86848fb 100755
--- a/snap/local/ros_common/install_hook_ros.sh
+++ b/snap/local/local-ros/install_hook_ros.sh
@@ -1,16 +1,12 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 # Define a function to log messages
-log() {
-  local message="$1"
-  # Log the message with logger
-  logger -t "${SNAP_NAME}" "install hook: $message"
-}
+source $SNAP/usr/bin/utils.sh
 
-
-snapctl set transport="udp"
-snapctl set ros-localhost-only=0
-snapctl set ros-domain-id=0
+snapctl set ros.transport="udp"
+snapctl set ros.localhost-only=0
+snapctl set ros.domain-id=0
+snapctl set ros.namespace! # unset
 
 if ! snapctl is-connected ros-humble-ros-base; then
   log "Plug 'ros-humble-ros-base' isn't connected, please run:"
diff --git a/snap/local/local-ros/ros_setup.sh b/snap/local/local-ros/ros_setup.sh
new file mode 100755
index 0000000..2fffe43
--- /dev/null
+++ b/snap/local/local-ros/ros_setup.sh
@@ -0,0 +1,5 @@
+#!/bin/bash -e
+
+source $SNAP_COMMON/ros.env
+
+exec $@
\ No newline at end of file
diff --git a/snap/local/ros_common/shm.xml b/snap/local/local-ros/shm.xml
similarity index 98%
rename from snap/local/ros_common/shm.xml
rename to snap/local/local-ros/shm.xml
index 1f9e585..4f2910f 100644
--- a/snap/local/ros_common/shm.xml
+++ b/snap/local/local-ros/shm.xml
@@ -15,4 +15,4 @@
             <useBuiltinTransports>false</useBuiltinTransports>
         </rtps>
     </participant>
-</profiles>
\ No newline at end of file
+</profiles>
diff --git a/snap/local/local-ros/udp-lo-cyclone.xml b/snap/local/local-ros/udp-lo-cyclone.xml
new file mode 100644
index 0000000..6cdc91c
--- /dev/null
+++ b/snap/local/local-ros/udp-lo-cyclone.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+    <Domain id="any">
+        <General>
+            <NetworkInterfaceAddress>lo</NetworkInterfaceAddress>
+            <AllowMulticast>false</AllowMulticast>
+        </General>
+        <Discovery>
+            <ParticipantIndex>auto</ParticipantIndex>
+            <MaxAutoParticipantIndex>30</MaxAutoParticipantIndex>
+            <Peers>
+                <Peer address="localhost"/>
+            </Peers>
+        </Discovery>
+    </Domain>
+</CycloneDDS>
\ No newline at end of file
diff --git a/snap/local/local-ros/udp-lo.xml b/snap/local/local-ros/udp-lo.xml
new file mode 100644
index 0000000..fd0d0b2
--- /dev/null
+++ b/snap/local/local-ros/udp-lo.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>udp_transport_localhost</transport_id>
+            <type>UDPv4</type>
+            <interfaceWhiteList>
+                <address>127.0.0.1</address>
+            </interfaceWhiteList>
+        </transport_descriptor>
+    </transport_descriptors>
+
+    <participant profile_name="UDPParticipant" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>udp_transport_localhost</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>
diff --git a/snap/local/ros_common/udp.xml b/snap/local/local-ros/udp.xml
similarity index 98%
rename from snap/local/ros_common/udp.xml
rename to snap/local/local-ros/udp.xml
index 7ebb6f7..73e3e55 100644
--- a/snap/local/ros_common/udp.xml
+++ b/snap/local/local-ros/udp.xml
@@ -15,4 +15,4 @@
             <useBuiltinTransports>false</useBuiltinTransports>
         </rtps>
     </participant>
-</profiles>
\ No newline at end of file
+</profiles>
diff --git a/snap/local/local-ros/utils.sh b/snap/local/local-ros/utils.sh
new file mode 100755
index 0000000..eafb4f4
--- /dev/null
+++ b/snap/local/local-ros/utils.sh
@@ -0,0 +1,237 @@
+#!/bin/bash -e
+
+# Define a function to log and echo messages
+log_and_echo() {
+    local message="$1"
+    local script_name=$(basename "$0")
+    # Log the message with logger
+    logger -t "${SNAP_NAME}" "${script_name}: $message"
+    # Echo the message to standard error
+    echo -e >&2 "$message"
+}
+
+log() {
+    local message="$1"
+    local script_name=$(basename "$0")
+    # Log the message with logger
+    logger -t "${SNAP_NAME}" "${script_name}: $message"
+}
+
+is_integer() {
+  expr "$1" : '-\?[0-9][0-9]*$' >/dev/null 2>&1
+}
+
+# Function to validate the option values
+validate_option() {
+  local OPT=$1
+  local VALID_OPTIONS=("${!2}")
+
+  VALUE="$(snapctl get ${OPT})"
+
+  # Create an associative array to check valid options
+  declare -A valid_options_map
+  for option in "${VALID_OPTIONS[@]}"; do
+    valid_options_map["$option"]=1
+  done
+
+  # Join the valid options with newlines
+  JOINED_OPTIONS=$(printf "%s\n" "${VALID_OPTIONS[@]}")
+
+  if [ -n "${VALUE}" ]; then
+    if [[ -z "${valid_options_map[$VALUE]}" ]]; then
+      log_and_echo "'${VALUE}' is not a supported value for '${OPT}' parameter. Possible values are:\n${JOINED_OPTIONS}"
+      exit 1
+    fi
+  fi
+}
+
+# Function to validate configuration keys
+validate_keys() {
+    local top_level_key=$1
+    local valid_keys=("${!2}")
+
+    # Get the current configuration keys
+    local config_keys=$(snapctl get "$top_level_key" | yq '. | keys' | sed 's/- //g' | tr -d '"')
+
+    # Create an associative array to check valid keys
+    declare -A valid_keys_map
+    for key in "${valid_keys[@]}"; do
+        valid_keys_map["$key"]=1
+    done
+
+    # Join the valid options with newlines
+    JOINED_OPTIONS=$(printf "%s\n" "${valid_keys[@]}")
+
+    # Iterate over the keys in the configuration
+    for key in $config_keys; do
+        # Check if the key is in the list of valid keys
+        if [[ -z "${valid_keys_map[$key]}" ]]; then
+            log_and_echo "'${key}' is not a supported value for '${top_level_key}' key. Possible values are:\n${JOINED_OPTIONS}"
+            exit 1
+        fi
+    done
+}
+
+validate_number() {
+    local value_key=$1
+    local range=("${!2}")
+    local excluded_values=("${!3:-}")
+
+    # Get the value using snapctl
+    local value=$(snapctl get "$value_key")
+
+    # Extract the min and max range values
+    local min_value=${range[0]}
+    local max_value=${range[1]}
+
+    # Join the excluded values with newlines if they exist
+    local joined_excluded_values
+    local exclude_message
+    if [ -n "$excluded_values" ]; then
+        joined_excluded_values=$(printf "%s\n" "${excluded_values[@]}")
+        exclude_message=" excluding:\n${joined_excluded_values[*]}"
+    else
+        exclude_message=""
+    fi
+
+    # Check if the value is an integer
+    if ! [[ "$value" =~ ^[0-9]+$ ]]; then
+        log_and_echo "'${value}' is not a supported value for '${value_key}'. Possible values are integers between ${min_value} and ${max_value}.${exclude_message}"
+        exit 1
+    fi
+
+    # Check if the value is in the valid range
+    if [ "$value" -lt "$min_value" ] || [ "$value" -gt "$max_value" ]; then
+        log_and_echo "'${value}' is not a supported value for '${value_key}'. Possible values are integers between ${min_value} and ${max_value}.${exclude_message}"
+        exit 1
+    fi
+
+    # Check if the value is in the excluded list
+    if [ -n "$excluded_values" ]; then
+        for excluded_value in "${excluded_values[@]}"; do
+            if [ "$value" -eq "$excluded_value" ]; then
+                log_and_echo "'${value}' is not a supported value for '${value_key}'. Possible values are integers between ${min_value} and ${max_value}.${exclude_message}"
+                exit 1
+            fi
+        done
+    fi
+}
+
+validate_float() {
+    local value_key=$1
+
+    # Get the value using snapctl
+    local value=$(snapctl get "$value_key")
+
+    # Check if the value is a floating-point number
+    if ! [[ "$value" =~ ^-?[0-9]*\.?[0-9]+$ ]]; then
+        log_and_echo "'${value}' is not a supported value for '${value_key}'. Possible values are floating-point numbers."
+        exit 1
+    fi
+}
+
+validate_regex() {
+    local value_key=$1
+    local regex=$2
+    local error_message=$3
+
+    # Get the value using snapctl
+    local value=$(snapctl get "$value_key")
+
+    # Check if the value matches the regex
+    if ! [[ "$value" =~ $regex ]]; then
+        log_and_echo "'${value}' is not a supported value for '${value_key}'. ${error_message}"
+        exit 1
+    fi
+}
+
+validate_path() {
+    local value_key=$1
+
+    # Get the value using snapctl
+    local config_path=$(snapctl get "$value_key")
+
+    # Check if the path is a valid file
+    if [ ! -f "$config_path" ]; then
+        log_and_echo "The path specified in '$value_key' does not exist: '$config_path'."
+        exit 1
+    fi
+}
+
+validate_ipv4_addr() {
+    local value_key=$1
+
+    # Get the value using snapctl
+    local ip_address=$(snapctl get "$value_key")
+    local ip_address_regex='^(([0-9]{1,3}\.){3}[0-9]{1,3})$'
+
+    if [[ "$ip_address" =~ $ip_address_regex ]]; then
+        # Split the IP address into its parts
+        IFS='.' read -r -a octets <<< "$ip_address"
+
+        # Check each octet
+        for octet in "${octets[@]}"; do
+            if ((octet < 0 || octet > 255)); then
+                log_and_echo "Invalid format for '$value_key'. Each part of the IPv4 address must be between 0 and 255. Received: '$ip_address'."
+                exit 1
+            fi
+        done
+    else
+        log_and_echo "Invalid format for '$value_key'. Expected format: a valid IPv4 address. Received: '$ip_address'."
+        exit 1
+    fi
+}
+
+# Universal function to validate serial ports
+validate_serial_port() {
+    local port_key=$1
+
+    # Get the port value using snapctl
+    local port_value=$(snapctl get "$port_key")
+
+    # Check if the value is "auto" or a valid serial port
+    if [ "$port_value" != "auto" ] && [ ! -e "$port_value" ]; then
+        log_and_echo "'${port_value}' is not a valid value for '${port_key}'. It must be 'auto' or a valid serial port in the /dev/ directory."
+        exit 1
+    fi
+}
+
+# Function to find the ttyUSB* device for the specified USB Vendor and Product ID
+find_ttyUSB() {
+  # Extract port parameter, vendor, and product ID
+  PORT_PARAM="$1"
+  VENDOR_ID="$2"
+  PRODUCT_ID="$3"
+
+  # Get the serial-port value using snapctl
+  SERIAL_PORT=$(snapctl get "$PORT_PARAM")
+
+  if [ "$SERIAL_PORT" == "auto" ]; then
+    for device in /sys/bus/usb/devices/*; do
+      if [ -f "$device/idVendor" ]; then
+        current_vendor_id=$(cat "$device/idVendor")
+        if [ "$current_vendor_id" == "$VENDOR_ID" ]; then
+          if [ -z "$PRODUCT_ID" ] || ([ -f "$device/idProduct" ] && [ "$(cat "$device/idProduct")" == "$PRODUCT_ID" ]); then
+            # Look for ttyUSB device in the subdirectories
+            for subdir in "$device/"*; do
+              if [ -d "$subdir" ]; then
+                for tty in $(find "$subdir" -name "ttyUSB*" -print 2>/dev/null); do
+                  if [ -e "$tty" ]; then
+                    ttydev=$(basename "$tty")
+                    echo "/dev/$ttydev"
+                    return 0
+                  fi
+                done
+              fi
+            done
+          fi
+        fi
+      fi
+    done
+    echo "Error: Device with ID $VENDOR_ID:${PRODUCT_ID:-*} not found."
+    return 1
+  else
+    echo "$SERIAL_PORT"
+    return 0
+  fi
+}
\ No newline at end of file
diff --git a/snap/local/ros_common/configure_hook_ros.sh b/snap/local/ros_common/configure_hook_ros.sh
deleted file mode 100755
index 15b60ee..0000000
--- a/snap/local/ros_common/configure_hook_ros.sh
+++ /dev/null
@@ -1,76 +0,0 @@
-#!/bin/sh -e
-
-# The configure hook is called every time one the following actions happen:
-# - initial snap installation
-# - snap refresh
-# - whenever the user runs snap set|unset to change a configuration option
-
-# Define a function to log and echo messages
-log_and_echo() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "configure hook: $message"
-    # Echo the message to standard error
-    echo >&2 "$message"
-}
-
-log() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "configure hook: $message"
-}
-
-# Make sure ROS_LOCALHOST_ONLY is valid
-OPT="ros-localhost-only"
-ROS_LOCALHOST_ONLY="$(snapctl get ${OPT})"
-if [ -n "${ROS_LOCALHOST_ONLY}" ]; then
-  case "${ROS_LOCALHOST_ONLY}" in
-  1) ;;
-  0) ;;
-  *)
-    log_and_echo "'${ROS_LOCALHOST_ONLY}' is not a supported value for '${OPT}'." \
-      "Possible values are 0 or 1."
-    exit 1
-    ;;
-  esac
-fi
-
-# Make sure ROS_DOMAIN_ID is valid
-OPT="ros-domain-id"
-ROS_DOMAIN_ID="$(snapctl get ${OPT})"
-
-is_integer() {
-  expr "$1" : '-\?[0-9][0-9]*$' >/dev/null 2>&1
-}
-
-if ! is_integer "${ROS_DOMAIN_ID}" || [ "${ROS_DOMAIN_ID}" -lt 0 ] || [ "${ROS_DOMAIN_ID}" -gt 232 ]; then
-  log_and_echo "'${ROS_DOMAIN_ID}' is not a supported value for '${OPT}'. Possible values are integers between 0 and 232."
-  exit 1
-fi
-
-# Get the transport setting using snapctl
-OPT="transport"
-TRANSPORT_SETTING="$(snapctl get ${OPT})"
-
-# Only exit with status 1 if conditions are not met
-if [ "$TRANSPORT_SETTING" != "builtin" ] && [ ! -f "${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" ]; then
-  log_and_echo "'${SNAP_COMMON}/${TRANSPORT_SETTING}.xml' does not exist."
-  exit 1
-fi
-
-if [ "$TRANSPORT_SETTING" = "builtin" ] || [ "$TRANSPORT_SETTING" = "shm" ]; then
-  if ! snapctl is-connected shm-plug; then
-    log_and_echo "to use 'builtin' and 'shm' tranport shm-plug need to be connected, please run:"
-    log_and_echo "sudo snap connect ${SNAP_NAME}:shm-plug ${SNAP_NAME}:shm-slot"
-    exit 1
-  fi
-fi
-
-# # Make sure ros-humble-ros-base is connected
-# ROS_PLUG="ros-humble-ros-base"
-
-# if ! snapctl is-connected ${ROS_PLUG}; then
-#     log_and_echo "Plug '${ROS_PLUG}' isn't connected. Please run:"
-#     log_and_echo "snap connect ${SNAP_NAME}:${ROS_PLUG} ${ROS_PLUG}:${ROS_PLUG}"
-#     exit 1
-# fi
diff --git a/snap/local/ros_common/ros_setup.sh b/snap/local/ros_common/ros_setup.sh
deleted file mode 100755
index ee6d3b5..0000000
--- a/snap/local/ros_common/ros_setup.sh
+++ /dev/null
@@ -1,28 +0,0 @@
-#!/usr/bin/bash -e
-
-log() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "ros_setup: $message"
-}
-
-TRANSPORT="$(snapctl get transport)"
-# watch the log with: "journalctl -t ${SNAP_NAME}"
-log "transport: ${TRANSPORT}"
-
-if [ "$TRANSPORT" = "builtin" ]; then
-  log "using builtin transport setting"
-else
-  PROFILE_FILE="${SNAP_COMMON}/${TRANSPORT}.xml"
-  export FASTRTPS_DEFAULT_PROFILES_FILE=$PROFILE_FILE
-  log "using ${PROFILE_FILE} transport setting"
-  log "$(cat $FASTRTPS_DEFAULT_PROFILES_FILE)"
-fi
-
-export ROS_LOCALHOST_ONLY="$(snapctl get ros-localhost-only)"
-export ROS_DOMAIN_ID="$(snapctl get ros-domain-id)"
-
-log "ROS_LOCAHOST_ONLY=${ROS_LOCALHOST_ONLY}"
-log "ROS_DOMAIN_ID=${ROS_DOMAIN_ID}"
-
-exec $@
\ No newline at end of file
diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
index 32fb515..c5b6d92 100644
--- a/snap/snapcraft.yaml
+++ b/snap/snapcraft.yaml
@@ -5,14 +5,22 @@ summary: OAK-x cameras driver for Husarion robots
 icon: snap/gui/icon.png
 description: |
   The `husarion-depthai` snap contains all the necessary software to bring the OAK-x cameras up.
-  It offers the following parameters:
+  
+  **Parameters**
 
-  * driver: `{...}`
-  * ros-domain-id: `0`
-  * ros-localhost-only: `0`
-  * transport: `udp`
-    
-  The `driver` parameter is a dictionary that contains the following keys:
+  The snap provides the following configurable parameters (`param name`: `default value`):
+
+  * `driver`: `{...}`
+  * `ros`: `{...}`
+
+  The `ros` contains the following keys:
+
+  * `ros.domain-id`: `0` - Sets the `ROS_DOMAIN_ID` environment variable for the ROS driver.
+  * `ros.localhost-only`: `0` - Sets the `ROS_LOCALHOST_ONLY` environment variable for the ROS driver.
+  * `ros.transport`: `udp` - Configures DDS transport. Options are `udp`, `shm`, `builtin` (or `rmw_fastrtps_cpp`), `rmw_cyclonedds_cpp`. Corresponding DDS XML files can be found in the `/var/snap/rosbot-xl/common` directory (custom FastDDS setups can also be created here).
+  * `ros.namespace`: `(unset)` - Namespace for all topics and transforms.
+
+  The `driver` contains the following keys:
 
   * name: `oak`
   * parent-frame: `oak-d-base-frame`
@@ -27,7 +35,6 @@ description: |
   * ffmpeg-image-transport.encoding: `libx264`
   * ffmpeg-image-transport.preset: `ultrafast`
   * ffmpeg-image-transport.tune: `zerolatency`
-  * namespace: `(unset)`
 
   To set the parameters, use the snap set command, e.g.,
 
@@ -139,70 +146,6 @@ parts:
       - libcanberra-gtk3-module
       - libglu1-mesa
 
-  # ffmpeg:
-  #   plugin: colcon
-  #   source: https://github.com/ros-misc-utilities/ffmpeg_image_transport.git
-  #   # source-branch: v2.9.0-humble
-  #   build-packages:
-  #     - python3-catkin-pkg-modules
-  #     - python3-vcstool
-  #   stage-packages:
-  #     - ros-humble-image-transport
-  #     - ros-humble-image-transport-plugins
-  #     - ffmpeg
-  #     - ros-humble-cv-bridge
-  #     # needed to run ffmpeg without errors:
-  #     - libpulse-dev
-  #     - libblas3
-  #     - libjpeg-turbo8-dev
-  #   override-pull: |
-  #     craftctl default
-  #     cd $CRAFT_PART_SRC
-  #     vcs import $CRAFT_PART_SRC < $CRAFT_PART_SRC/ffmpeg_image_transport.repos
-
-
-  # husarion-depthai:
-  #   plugin: colcon
-  #   source: https://github.com/luxonis/depthai-ros.git
-  #   source-branch: v2.9.0-humble
-  #   build-packages:
-  #     - python3-catkin-pkg-modules
-  #     - python3-vcstool
-  #   override-pull: |
-  #     craftctl default
-
-  #     cd $CRAFT_PART_SRC
-
-  #     git clone https://github.com/ros-misc-utilities/ffmpeg_image_transport.git
-  #     vcs import $CRAFT_PART_SRC < $CRAFT_PART_SRC/ffmpeg_image_transport/ffmpeg_image_transport.repos
-
-  #     # Set the snap version from the git tag
-  #     # The grade is set to 'stable' if the latest entry in the git history
-  #     # is the tag itself, otherwise set to devel
-  #     version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
-  #     [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
-  #     craftctl set version="$version"
-  #     craftctl set grade="$grade"
-
-    # build-packages: 
-    #   - python3-vcstool
-    #   - python3-pip
-    #   - python3-colcon-common-extensions
-    #   - python3-rosdep
-    #   - python3-catkin-pkg
-      
-  # ffmpeg:
-  #   plugin: colcon
-  #   source: https://github.com/ros-misc-utilities/ffmpeg_image_transport.git
-  #   build-packages: 
-  #     - python3-vcstool
-  #     - python3-pip
-  #     - python3-colcon-common-extensions
-  #     - python3-rosdep
-  #   override-pull: |
-  #     craftctl default
-
-  #     vcs import $CRAFT_PART_SRC < $CRAFT_PART_SRC/ffmpeg_image_transport.repos
   yq:
     plugin: nil
     override-build: |
@@ -222,7 +165,7 @@ parts:
   # copy local scripts to the snap usr/bin
   local-files-ros:
     plugin: dump
-    source: snap/local/ros_common/
+    source: snap/local/local-ros/
     organize:
       '*.sh': usr/bin/
       '*.xml': usr/share/husarion-depthai/config/