From 2bb7799eea22302f49aeca499d8124996d05c687 Mon Sep 17 00:00:00 2001
From: John <134429827+jbrhm@users.noreply.github.com>
Date: Tue, 1 Oct 2024 14:01:43 -0400
Subject: [PATCH] Fixed topic names for ZED wrapper and Sim (#19)

* ZED Naming conflicts

* OD in the sim and on ZED

* style

* style
---
 perception/object_detector/object_detector.cpp |  2 +-
 perception/zed_wrapper/zed_wrapper.cpp         | 10 +++++-----
 scripts/visualizer.py                          |  2 +-
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/perception/object_detector/object_detector.cpp b/perception/object_detector/object_detector.cpp
index dc7f91e6..c5848f47 100644
--- 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
index cf35ca6b..3309cbcf 100644
--- 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
index 5aae7a5d..336f9e67 100755
--- 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: