Merge branch 'main' into JRA/TensorRT-fixes

umrover · Oct 1, 2024 · 8d045c5 · 8d045c5
2 parents c2b7290 + 2bb7799
commit 8d045c5
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/perception/object_detector/object_detector.cpp b/perception/object_detector/object_detector.cpp
@@ -40,7 +40,7 @@ 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{};