diff --git a/src/main/idl/ZEDSDK.idl b/src/main/idl/ZEDSDK.idl
index ef11b0b..17e4957 100644
--- a/src/main/idl/ZEDSDK.idl
+++ b/src/main/idl/ZEDSDK.idl
@@ -5,6 +5,8 @@ module robotDataLogger{
 		string sensor_name;
 		string address;
 		short port;
+		long fps;
+		long bitrate;
 	};
 };
 };
diff --git a/src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnounce.java b/src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnounce.java
index 86b722c..a6ac76d 100644
--- a/src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnounce.java
+++ b/src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnounce.java
@@ -11,6 +11,8 @@ public class ZEDSDKAnnounce extends Packet<ZEDSDKAnnounce> implements Settable<Z
    public java.lang.StringBuilder sensor_name_;
    public java.lang.StringBuilder address_;
    public short port_;
+   public int fps_;
+   public int bitrate_;
 
    public ZEDSDKAnnounce()
    {
@@ -34,6 +36,10 @@ public void set(ZEDSDKAnnounce other)
 
       port_ = other.port_;
 
+      fps_ = other.fps_;
+
+      bitrate_ = other.bitrate_;
+
    }
 
    public void setSensorName(java.lang.String sensor_name)
@@ -75,6 +81,24 @@ public short getPort()
       return port_;
    }
 
+   public void setFps(int fps)
+   {
+      fps_ = fps;
+   }
+   public int getFps()
+   {
+      return fps_;
+   }
+
+   public void setBitrate(int bitrate)
+   {
+      bitrate_ = bitrate;
+   }
+   public int getBitrate()
+   {
+      return bitrate_;
+   }
+
 
    public static Supplier<ZEDSDKAnnouncePubSubType> getPubSubType()
    {
@@ -99,6 +123,10 @@ public boolean epsilonEquals(ZEDSDKAnnounce other, double epsilon)
 
       if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.port_, other.port_, epsilon)) return false;
 
+      if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.fps_, other.fps_, epsilon)) return false;
+
+      if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.bitrate_, other.bitrate_, epsilon)) return false;
+
 
       return true;
    }
@@ -118,6 +146,10 @@ public boolean equals(Object other)
 
       if(this.port_ != otherMyClass.port_) return false;
 
+      if(this.fps_ != otherMyClass.fps_) return false;
+
+      if(this.bitrate_ != otherMyClass.bitrate_) return false;
+
 
       return true;
    }
@@ -133,7 +165,11 @@ public java.lang.String toString()
       builder.append("address=");
       builder.append(this.address_);      builder.append(", ");
       builder.append("port=");
-      builder.append(this.port_);
+      builder.append(this.port_);      builder.append(", ");
+      builder.append("fps=");
+      builder.append(this.fps_);      builder.append(", ");
+      builder.append("bitrate=");
+      builder.append(this.bitrate_);
       builder.append("}");
       return builder.toString();
    }
diff --git a/src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnouncePubSubType.java b/src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnouncePubSubType.java
index 217f998..bfe3c23 100644
--- a/src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnouncePubSubType.java
+++ b/src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnouncePubSubType.java
@@ -15,7 +15,7 @@ public class ZEDSDKAnnouncePubSubType implements us.ihmc.pubsub.TopicDataType<us
    @Override
    public final java.lang.String getDefinitionChecksum()
    {
-   		return "e3710472cf327eef8765ab1aafdd1a4fdc8b7cba2ab45bd577bbca5435234f75";
+   		return "0a8a4b3b0580df7906673f4755a2db962b6a9a5b2be9db40bac836b844922163";
    }
    
    @Override
@@ -56,6 +56,10 @@ public static int getMaxCdrSerializedSize(int current_alignment)
       current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4) + 255 + 1;
       current_alignment += 2 + us.ihmc.idl.CDR.alignment(current_alignment, 2);
 
+      current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4);
+
+      current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4);
+
 
       return current_alignment - initial_alignment;
    }
@@ -76,6 +80,12 @@ public final static int getCdrSerializedSize(us.ihmc.robotDataLogger.ZEDSDKAnnou
       current_alignment += 2 + us.ihmc.idl.CDR.alignment(current_alignment, 2);
 
 
+      current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4);
+
+
+      current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4);
+
+
 
       return current_alignment - initial_alignment;
    }
@@ -92,6 +102,10 @@ public static void write(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.id
 
       cdr.write_type_1(data.getPort());
 
+      cdr.write_type_2(data.getFps());
+
+      cdr.write_type_2(data.getBitrate());
+
    }
 
    public static void read(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.idl.CDR cdr)
@@ -100,6 +114,10 @@ public static void read(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.idl
       cdr.read_type_d(data.getAddress());	
       data.setPort(cdr.read_type_1());
       	
+      data.setFps(cdr.read_type_2());
+      	
+      data.setBitrate(cdr.read_type_2());
+      	
 
    }
 
@@ -109,6 +127,8 @@ public final void serialize(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc
       ser.write_type_d("sensor_name", data.getSensorName());
       ser.write_type_d("address", data.getAddress());
       ser.write_type_1("port", data.getPort());
+      ser.write_type_2("fps", data.getFps());
+      ser.write_type_2("bitrate", data.getBitrate());
    }
 
    @Override
@@ -117,6 +137,8 @@ public final void deserialize(us.ihmc.idl.InterchangeSerializer ser, us.ihmc.rob
       ser.read_type_d("sensor_name", data.getSensorName());
       ser.read_type_d("address", data.getAddress());
       data.setPort(ser.read_type_1("port"));
+      data.setFps(ser.read_type_2("fps"));
+      data.setBitrate(ser.read_type_2("bitrate"));
    }
 
    public static void staticCopy(us.ihmc.robotDataLogger.ZEDSDKAnnounce src, us.ihmc.robotDataLogger.ZEDSDKAnnounce dest)
diff --git a/src/main/java/us/ihmc/robotDataLogger/example/ExampleSVOLogger.java b/src/main/java/us/ihmc/robotDataLogger/example/ExampleSVOLogger.java
index 60855b6..8d66870 100644
--- a/src/main/java/us/ihmc/robotDataLogger/example/ExampleSVOLogger.java
+++ b/src/main/java/us/ihmc/robotDataLogger/example/ExampleSVOLogger.java
@@ -49,7 +49,7 @@ public static void main(String[] args)
       String path = System.getProperty("user.home") + "/Desktop/test" + UUID.randomUUID().toString().substring(0, 5);
       String svoFile = path + ".svo2";
       String datFile = path + ".dat";
-      SVO_LOGGER.start(svoFile, datFile, System::nanoTime, ADDRESS, PORT);
+      SVO_LOGGER.start(svoFile, datFile, System::nanoTime, ADDRESS, PORT, 15, 8000);
 
       /*
          Do nothing forever, everything else runs in other threads
diff --git a/src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLogger.java b/src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLogger.java
index 41b496f..9b6da6e 100644
--- a/src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLogger.java
+++ b/src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLogger.java
@@ -23,8 +23,6 @@
 public class ZEDSVOLogger
 {
    private static final double CONNECT_TIMEOUT = 2.0;
-   private static final int BITRATE = 8000;
-   private static final int MAX_FPS = 15;
    private static final boolean TRANSCODE = false;
 
    private static int nextCameraId = 10;
@@ -44,7 +42,7 @@ public class ZEDSVOLogger
    private volatile boolean completelyStopped;
    private volatile boolean failedBeyondRecovery;
 
-   public void start(String svoFile, String datFile, LongSupplier timestampSupplier, String address, int port)
+   public void start(String svoFile, String datFile, LongSupplier timestampSupplier, String address, int port, int fps, int bitrate)
    {
       this.timestampSupplier = timestampSupplier;
 
@@ -72,7 +70,7 @@ public void start(String svoFile, String datFile, LongSupplier timestampSupplier
       if (returnCode != SL_ERROR_CODE_SUCCESS)
          LogTools.error("ZED SDK error code: " + returnCode);
 
-      returnCode = sl_enable_recording(cameraID, svoFile, SL_SVO_COMPRESSION_MODE_H264, BITRATE, MAX_FPS, TRANSCODE);
+      returnCode = sl_enable_recording(cameraID, svoFile, SL_SVO_COMPRESSION_MODE_H264, bitrate, fps, TRANSCODE);
       if (returnCode != SL_ERROR_CODE_SUCCESS)
          LogTools.error("ZED SDK error code: " + returnCode);
 
diff --git a/src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLoggerManager.java b/src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLoggerManager.java
index 930f939..58abd87 100644
--- a/src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLoggerManager.java
+++ b/src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLoggerManager.java
@@ -72,7 +72,7 @@ private void onZEDSDKAnnounceMessage(ZEDSDKAnnounce message)
 
          ZEDSVOLogger zedSVOLogger = new ZEDSVOLogger();
 
-         zedSVOLogger.start(svoFile, datFile, timestampSupplier, message.getAddressAsString(), message.getPort());
+         zedSVOLogger.start(svoFile, datFile, timestampSupplier, message.getAddressAsString(), message.getPort(), message.getFps(), message.getBitrate());
 
          zedLoggers.put(announceHash, zedSVOLogger);
       }