Nafi' reports: When Abdullah bin Umar (may Allah be pleased with them both) would light the censer, he would use aloeswood (a specific type of wood) to kindle it and would also mix camphor with it. Then he would mention that the Prophet Muhammad (peace and blessings be upon him) would also light the censer in the same manner.
Hadith Referenceصحیح ابن حبان / كتاب الزينة والتطييب / 5463
Hadith Gradingفضيلة الشيخ الإمام محمد ناصر الدين الألبانيصحيح: م (7/ 48).فضيلة الشيخ العلّامة شُعيب الأرناؤوطNull