diff --git a/include/bottlenose_camera_driver.hpp b/include/bottlenose_camera_driver.hpp
index c6bad41..1bb2ab5 100644
--- a/include/bottlenose_camera_driver.hpp
+++ b/include/bottlenose_camera_driver.hpp
@@ -48,10 +48,16 @@ namespace bottlenose_camera_driver {
     explicit CameraDriver(const rclcpp::NodeOptions&);
     ~CameraDriver();
   private:
+    /**
+     * Convert the frame to a ROS2 message.
+     * @param buffer Buffer received on GEV interface
+     * @return ROS2 message
+     */
     std::shared_ptr<sensor_msgs::msg::Image> convertFrameToMessage(PvBuffer *buffer);
 
     bool set_interval();                  ///< Set camera frame rate.
     bool set_format();                    ///< Set camera format.
+    bool apply_ccm();                     ///< Apply color correction matrix.
     bool update_runtime_parameters();     ///< Update runtime parameters from ROS2 parameters.
     bool connect();                       ///< Connect to camera.
     void disconnect();                    ///< Disconnect from camera.
@@ -67,7 +73,8 @@ namespace bottlenose_camera_driver {
     PvStreamGEV *m_stream;                ///< GEV stream handle.
 
     std::string m_mac_address;            ///< Mac address of camera to connect to.
-    std::shared_ptr<sensor_msgs::msg::Image> m_image_msg; ///< Image message to publish.
+    /// Image message to publish.
+    std::shared_ptr<sensor_msgs::msg::Image> m_image_msg;
 
     /// Camera parameter cache
     std::map<std::string, std::variant<int64_t, double, std::string>> m_camera_parameter_cache;
@@ -77,7 +84,8 @@ namespace bottlenose_camera_driver {
     std::thread m_management_thread;      ///< Management thread handle.
 
     std::shared_ptr<camera_info_manager::CameraInfoManager> m_cinfo_manager;
-    image_transport::CameraPublisher m_camera_pub; ///< Camera publisher.
+    /// Camera publisher.
+    image_transport::CameraPublisher m_camera_pub;
 };
 } // namespace bottlenose_camera_driver
 #endif //__BOTTLENOSE_CAMERA_DRIVER_HPP__
diff --git a/src/bottlenose_camera_driver.cpp b/src/bottlenose_camera_driver.cpp
index bbbfdcd..4652ec9 100644
--- a/src/bottlenose_camera_driver.cpp
+++ b/src/bottlenose_camera_driver.cpp
@@ -37,6 +37,7 @@
 
 #define BUFFER_COUNT ( 16 )
 #define BUFFER_SIZE ( 3840 * 2160 * 3 ) // 4K UHD, YUV422 + ~1 image plane to account for chunk data
+#define WAIT_PROPAGATE() usleep(250 * 1000)
 
 
 namespace bottlenose_camera_driver
@@ -156,6 +157,45 @@ std::shared_ptr<sensor_msgs::msg::Image> CameraDriver::convertFrameToMessage(PvB
   return nullptr;
 }
 
+bool CameraDriver::apply_ccm() {
+    if(get_parameter("custom_ccm").as_bool()) {
+        // Find CUSTOM CCM profile in sensor
+        PvGenEnum * custom = static_cast<PvGenEnum *>(m_device->GetParameters()->Get("CCMColorProfile"));
+        PvResult res = custom->SetValue("Custom");
+        if(res.IsFailure()) {
+            RCLCPP_ERROR(get_logger(), "Could not select custom CCM profile");
+            return false;
+        }
+        WAIT_PROPAGATE();
+        // Set custom CCM values
+        for(auto param : {"CCMValue00",
+                     "CCMValue01",
+                     "CCMValue02",
+                     "CCMValue10",
+                     "CCMValue11",
+                     "CCMValue12",
+                     "CCMValue20",
+                     "CCMValue21",
+                     "CCMValue22"}) {
+            PvGenFloat * ccm = static_cast<PvGenFloat *>(m_device->GetParameters()->Get(param));
+            res = ccm->SetValue(get_parameter(param).as_double());
+            if(res.IsFailure()) {
+                RCLCPP_ERROR(get_logger(), "Could not set %s", param);
+                return false;
+            }
+        }
+        WAIT_PROPAGATE();
+        PvGenCommand * apply = static_cast<PvGenCommand *>(m_device->GetParameters()->Get("SetCustomProfile"));
+        res = apply->Execute();
+        if(!res) {
+            RCLCPP_ERROR(get_logger(), "Could not apply custom CCM profile");
+            return false;
+        }
+        RCLCPP_DEBUG_STREAM(get_logger(), "Applied custom CCM profile");
+    }
+    return true;
+}
+
 bool CameraDriver::update_runtime_parameters() {
     // All integer parameters
     for(auto param : {"blackBlue",
@@ -184,6 +224,7 @@ bool CameraDriver::update_runtime_parameters() {
         }
         // Cache
         m_camera_parameter_cache[param] = val;
+        RCLCPP_DEBUG_STREAM(get_logger(), "Set parameter " << param << " to " << val);
     }
 
     for(auto param : {"blackGainBlue",
@@ -212,6 +253,7 @@ bool CameraDriver::update_runtime_parameters() {
         }
         // Cache
         m_camera_parameter_cache[param] = val;
+        RCLCPP_DEBUG_STREAM(get_logger(), "Set parameter " << param << " to " << val);
     }
     return true;
 }
@@ -229,6 +271,8 @@ bool CameraDriver::set_interval() {
                  get_parameter("fps").as_double());
     return false;
   }
+  RCLCPP_DEBUG_STREAM(get_logger(), "Configured interval to " << 1000.0 / get_parameter("fps").as_double()
+    << " ms for " << get_parameter("fps").as_double() << " fps");
   return true;
 }
 
@@ -259,7 +303,7 @@ bool CameraDriver::set_format() {
     return false;
   }
   // Wait for parameter pass-through
-  usleep(200*2000);
+  WAIT_PROPAGATE();
   // Confirm the format
   int64_t width_in;
   res = widthParam->GetValue(width_in);
@@ -271,6 +315,7 @@ bool CameraDriver::set_format() {
     RCLCPP_ERROR_STREAM(get_logger(), "Could not configure format to " << format << " actual format is " << width_in << " x " << height);
     return false;
   }
+  RCLCPP_DEBUG_STREAM(get_logger(), "Configured format to " << format);
 
   return true;
 }
@@ -330,6 +375,7 @@ bool CameraDriver::connect() {
       disconnect();
       return false;
     }
+    RCLCPP_DEBUG_STREAM(get_logger(), "Set " << param << " to " << get_parameter(param).as_int());
   }
 
   // Stream tweaks, see https://supportcenter.pleora.com/s/article/Recommended-eBUS-Player-Settings-for-Wireless-Connection
@@ -346,6 +392,7 @@ bool CameraDriver::connect() {
       disconnect();
       return false;
     }
+    RCLCPP_DEBUG_STREAM(get_logger(), "Set " << param << " to " << get_parameter(param).as_int());
   }
 
   return true;
@@ -411,6 +458,11 @@ void CameraDriver::management_thread() {
     done = true;
     return;
   }
+  if(!apply_ccm()) {
+    disconnect();
+    done = true;
+    return;
+  }
   // Fail hard on first runtime parameter update issues
   if(!update_runtime_parameters()) {
     disconnect();