Questions about cameras and PlayerStage sensors

Hello everyone,

Does anybody try to get sensor data from robot simulator such as
PlayerStage http://playerstage.sourceforge.net ? Are there device
drivers for Orocos supporting PlayerStage's sonar, lazer and camera
sensors?

Recently I have written a simple driver for sonar sensor but I have
faced a problem of data synchronization between a sensor proxy and
PlayerClient connection. May be somebody knows more weak points?

One more question. How can I get a video stream from any camera (USB,
FireWire, PCI framegrabber) within Orocos? I could find no device
driver for it. Clips from the applications site
http://www.orocos.org/applications.php show that Orocos developers use
cameras although.

-- 
With respect,
Artem Orlov