Update rs_camera topics

Interbotix · Dec 11, 2024 · 0580a95 · 0580a95
1 parent ab53992
commit 0580a95
Show file tree

Hide file tree

Showing 8 changed files with 13 additions and 13 deletions.
diff --git a/interbotix_perception_toolbox/interbotix_perception_modules/README.md b/interbotix_perception_toolbox/interbotix_perception_modules/README.md
@@ -79,8 +79,8 @@ Short descriptions for each launch file's arguments are below...
 | standalone_tags | individual AprilTags the algorithm should be looking for | refer to [tags.yaml](config/tags.yaml) |
 | camera_frame | the camera frame in which the AprilTag will be detected | camera_color_optical_frame |
 | apriltag_ns | name-space where the AprilTag related nodes and parameters are located | apriltag |
-| camera_color_topic | the absolute ROS topic name to subscribe to color images | camera/color/image_raw |
-| camera_info_topic | the absolute ROS topic name to subscribe to the camera color info | camera/color/camera_info |
+| camera_color_topic | the absolute ROS topic name to subscribe to color images | /camera/camera/color/image_raw |
+| camera_info_topic | the absolute ROS topic name to subscribe to the camera color info | /camera/camera/color/camera_info |
 
 #### armtag.launch
 
@@ -102,7 +102,7 @@ Besides for the arguments listed below, the arguments above are in this launch f
 | filter_params | file location of the parameters used to tune the perception pipeline filters | "" |
 | use_pointcloud_tuner_gui | whether to show a GUI that a user can use to tune filter parameters | false |
 | enable_pipeline | whether to enable the perception pipeline filters to run continuously; to save computer processing power, this should be set to False unless you are actively trying to tune the filter parameters; if False, the pipeline will only run if the `get_cluster_positions` ROS service is called | $(arg use_pointcloud_tuner_gui) |
-| cloud_topic | the absolute ROS topic name to subscribe to raw pointcloud data | /camera/depth/color/points |
+| cloud_topic | the absolute ROS topic name to subscribe to raw pointcloud data | /camera/camera/depth/color/points |
 
 ## Troubleshooting
 

diff --git a/...erception_toolbox/interbotix_perception_modules/interbotix_perception_modules/apriltag.py b/...erception_toolbox/interbotix_perception_modules/interbotix_perception_modules/apriltag.py
@@ -69,7 +69,7 @@ def __init__(
         # set up subs, pubs, and services
         self.node_inf.declare_parameter(
             f'/{apriltag_ns}/camera_info_topic',
-            '/camera/color/camera_info'
+            '/camera/camera/color/camera_info'
         )
         camera_info_topic = self.node_inf.get_parameter(
             f'/{apriltag_ns}/camera_info_topic').get_parameter_value().string_value.strip('/')

diff --git a/...on_toolbox/interbotix_perception_modules/interbotix_perception_modules/picture_snapper.py b/...on_toolbox/interbotix_perception_modules/interbotix_perception_modules/picture_snapper.py
@@ -68,7 +68,7 @@ def __init__(self):
 
         self.declare_parameter(
             'camera_color_topic',
-            '/camera/color/image_raw'
+            '/camera/camera/color/image_raw'
         )
         self.declare_parameter(
             'apriltag_ns',

diff --git a/interbotix_perception_toolbox/interbotix_perception_modules/launch/apriltag.launch.py b/interbotix_perception_toolbox/interbotix_perception_modules/launch/apriltag.launch.py
@@ -106,12 +106,12 @@ def generate_launch_description():
         ),
         DeclareLaunchArgument(
             'camera_color_topic',
-            default_value='camera/color/image_raw',
+            default_value='/camera/camera/color/image_raw',
             description='the absolute ROS topic name to subscribe to color images.',
         ),
         DeclareLaunchArgument(
             'camera_info_topic',
-            default_value='camera/color/camera_info',
+            default_value='/camera/camera/color/camera_info',
             description='the absolute ROS topic name to subscribe to the camera color info.',
         ),
     ]

diff --git a/interbotix_perception_toolbox/interbotix_perception_modules/launch/armtag.launch.py b/interbotix_perception_toolbox/interbotix_perception_modules/launch/armtag.launch.py
@@ -120,12 +120,12 @@ def generate_launch_description():
         ),
         DeclareLaunchArgument(
             'camera_color_topic',
-            default_value='camera/color/image_raw',
+            default_value='/camera/camera/color/image_raw',
             description='the absolute ROS topic name to subscribe to color images.',
         ),
         DeclareLaunchArgument(
             'camera_info_topic',
-            default_value='camera/color/camera_info',
+            default_value='/camera/camera/color/camera_info',
             description='the absolute ROS topic name to subscribe to the camera color info.',
         ),
         DeclareLaunchArgument(

diff --git a/interbotix_perception_toolbox/interbotix_perception_modules/launch/pc_filter.launch.py b/interbotix_perception_toolbox/interbotix_perception_modules/launch/pc_filter.launch.py
@@ -117,7 +117,7 @@ def generate_launch_description():
         ),
         DeclareLaunchArgument(
             'cloud_topic',
-            default_value='camera/depth/color/points',
+            default_value='/camera/camera/depth/color/points',
             description='the absolute ROS topic name to subscribe to raw pointcloud data.',
         ),
     ]

diff --git a/interbotix_perception_toolbox/interbotix_perception_modules/launch/picture_snapper.launch.py b/interbotix_perception_toolbox/interbotix_perception_modules/launch/picture_snapper.launch.py
@@ -51,12 +51,12 @@ def generate_launch_description():
         ),
         DeclareLaunchArgument(
             'camera_color_topic',
-            default_value='/camera/color/image_raw',
+            default_value='/camera/camera/color/image_raw',
             description='topic in which the picture_snapper node can find the raw image message.',
         ),
         DeclareLaunchArgument(
             'camera_info_topic',
-            default_value='/camera/color/camera_info',
+            default_value='/camera/camera/color/camera_info',
             description=(
                 'topic in which the picture_snapper node can find the camera_info message.'
             ),

diff --git a/interbotix_perception_toolbox/interbotix_perception_pipelines/src/pointcloud_pipeline.cpp b/interbotix_perception_toolbox/interbotix_perception_pipelines/src/pointcloud_pipeline.cpp
@@ -386,7 +386,7 @@ int main(int argc, char ** argv)
 
   std::string cloud_topic;
   node_->declare_parameter<bool>("enable_pipeline", true);
-  node_->declare_parameter<std::string>("cloud_topic", "/camera/depth/color/points");
+  node_->declare_parameter<std::string>("cloud_topic", "/camera/camera/depth/color/points");
   node_->declare_parameter<float>("voxel_leaf_size", 0.004);
   node_->declare_parameter<float>("x_filter_min", -0.25);
   node_->declare_parameter<float>("y_filter_min", -0.25);