Fixed topic names for ZED wrapper and Sim (#19)

* ZED Naming conflicts * OD in the sim and on ZED * style * style
umrover · Oct 1, 2024 · 2bb7799 · 2bb7799
1 parent 33d94d6
commit 2bb7799
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/perception/object_detector/object_detector.cpp b/perception/object_detector/object_detector.cpp
@@ -31,7 +31,7 @@ namespace mrover {
     }
 
     StereoObjectDetector::StereoObjectDetector() {
-        mSensorSub = create_subscription<sensor_msgs::msg::PointCloud2>("/camera/left/points", 1, [this](sensor_msgs::msg::PointCloud2::UniquePtr const& msg) {
+        mSensorSub = create_subscription<sensor_msgs::msg::PointCloud2>("/zed/left/points", 1, [this](sensor_msgs::msg::PointCloud2::UniquePtr const& msg) {
             StereoObjectDetector::pointCloudCallback(msg);
         });
     }

diff --git a/perception/zed_wrapper/zed_wrapper.cpp b/perception/zed_wrapper/zed_wrapper.cpp
@@ -18,13 +18,13 @@ namespace mrover {
             RCLCPP_INFO(this->get_logger(), "Created Zed Wrapper Node, %s", NODE_NAME);
 
             // Publishers
-            mRightImgPub = create_publisher<sensor_msgs::msg::Image>("right/image", 1);
-            mLeftImgPub = create_publisher<sensor_msgs::msg::Image>("left/image", 1);
+            mRightImgPub = create_publisher<sensor_msgs::msg::Image>("zed/right/image", 1);
+            mLeftImgPub = create_publisher<sensor_msgs::msg::Image>("zed/left/image", 1);
             mImuPub = create_publisher<sensor_msgs::msg::Imu>("zed_imu/data_raw", 1);
             mMagPub = create_publisher<sensor_msgs::msg::MagneticField>("zed_imu/mag", 1);
-            mPcPub = create_publisher<sensor_msgs::msg::PointCloud2>("camera/left/points", 1);
-            mRightCamInfoPub = create_publisher<sensor_msgs::msg::CameraInfo>("camera/right/camera_info", 1);
-            mLeftCamInfoPub = create_publisher<sensor_msgs::msg::CameraInfo>("camera/left/camera_info", 1);
+            mPcPub = create_publisher<sensor_msgs::msg::PointCloud2>("zed/left/points", 1);
+            mRightCamInfoPub = create_publisher<sensor_msgs::msg::CameraInfo>("zed/right/camera_info", 1);
+            mLeftCamInfoPub = create_publisher<sensor_msgs::msg::CameraInfo>("zed/left/camera_info", 1);
 
             // Declare and set Params
             int imageWidth{};

diff --git a/scripts/visualizer.py b/scripts/visualizer.py
@@ -112,7 +112,7 @@ def paintEvent(self, event):
         self.resize(self.renderer.defaultSize())
         self.renderer.render(painter)
 
-    def update(self):
+    def update(self):  # type: ignore[override]
         rclpy.spin_once(self.viz)
         with self.state_machine.mutex:
             if self.graph is None or self.state_machine.needs_redraw: